| 一种基于Lyapunov的机器人直角坐标系轨线控制 |
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| 引用本文： | 李耀通,韩珂.一种基于Lyapunov的机器人直角坐标系轨线控制[J].自动化学报,1991,17(1):33-39. |
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| 作者姓名： | 李耀通 韩珂 |
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| 作者单位： | 1.中国科学院自动化研究所 |
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| 摘 要： | 本文提出一种可以使机器人直接跟踪直角坐标轨线而无须进行坐标变换的控制方法.文
中将讨论这种方法的物理意义,证明Lyapunov全局稳定性,并给出在PUMA 560模型上进
行模拟实验的结果.
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| 关 键 词： | 机器人 任务空间 轨线控制 Lyapunov稳定性 |
| 收稿时间： | 1989-9-23 |
A Lyapunov Based Cartesian Trejactory Control for Robot Manipulators |
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| Li Yaotong,Han Ke.A Lyapunov Based Cartesian Trejactory Control for Robot Manipulators[J].Acta Automatica Sinica,1991,17(1):33-39. |
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| Authors: | Li Yaotong Han Ke |
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| Affiliation: | 1.Institute of Automation,Academy of Sciences |
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| Abstract: | This paper studies the feasibility of the trajectory control for robot manipulators in the operational space without coordinate transformation. We will first discuss the control algorithm proposed in this paper and its physical background. Second, we will show this control strategy is Lyapunov globally asymptotically stable. Third, some simulation results inclnding that obtained on the PUMA 560 model will be illustrated and explained. |
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| Keywords: | Robot control operational space trajectory tracking Lyapunov stability |
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