| 双机械臂协调：以运动学为基础的模型分析与动态补偿控制方法 |
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| 引用本文： | 顾新兴,冯纯伯,刘 伟,黄亚楼,蒋喜华,安 刚,刘景泰,卢桂章.双机械臂协调：以运动学为基础的模型分析与动态补偿控制方法[J].控制理论与应用,1994,11(2):168-176. |
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| 作者姓名： | 顾新兴 冯纯伯 刘 伟 黄亚楼 蒋喜华 安 刚 刘景泰 卢桂章 |
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| 作者单位： | 山东纺织工学院光学所，东南大学自动化所，８６３南开大学机器人控制理论与方法网点实验室 |
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| 摘 要： | 本文建立了双机械臂协调系统的主从式控制的非结构模型，并针对两臂具有相同特性和不同特性这两种情形作了稳定性分析，提出特性校正的方法，本文还利用内模原理设计出动态补偿器来克服标定约束的不确定性对系统控制品质的影响，最后给出了实验结果。
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| 关 键 词： | 双机械臂协调 动态补偿控制 |
| 收稿时间： | 1992/9/14 0:00:00 |
| 修稿时间： | 1993/9/14 0:00:00 |
Dual Robot Coordination: Model Analysis and Dynamic Compensation Control Method |
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| GU Xinxing,FENG Chunbo,LIU Wei,HUANG Yalou,JIANG Xihu,AN Gang,LIU Jingtai and LU Guizhang.Dual Robot Coordination: Model Analysis and Dynamic Compensation Control Method[J].Control Theory & Applications,1994,11(2):168-176. |
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| Authors: | GU Xinxing FENG Chunbo LIU Wei HUANG Yalou JIANG Xihu AN Gang LIU Jingtai and LU Guizhang |
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| Affiliation: | Shandong Textile Engineering College |
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| Abstract: | The control strategy of two manipulators handling a common object is studied in this paper.First,a new unstructured model of dual manipulator system is established and the stability issue is studied,then a behavior correction method is given.Next,based on internal model principle,a dynamic compensated control strategy is developed for compensating the uncertanty in kinematic modeling.Experimental resuits for a dual manipulator system involving PUMA 760 and PUMA 562 are presented to verify the dynamic performance. |
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| Keywords: | dual robot coordination unstructured model behavior correction dynamic compesated control |
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