| 二自由度机器人的Matlab仿真 |
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| 引用本文： | 欣玲,顾宏斌,吴东苏.二自由度机器人的Matlab仿真[J].仪器仪表用户,2009,16(2):95-96. |
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| 作者姓名： | 欣玲 顾宏斌 吴东苏 |
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| 作者单位： | 南京航空航天大学,南京,210016 |
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| 摘 要： | 本文介绍了控制系统中的经典问题——倒立摆及其基本原理，简要介绍了Matlab中倒立摆控制的实现方法。由于倒立摆的研究具有重要的工程背景，本文结合了二级倒立摆的matlab仿真，实现二自由度机器人PD控制的matlab仿真，取得了较好的效果。
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| 关 键 词： | Matlab 倒立摆 二自由度机器人 PD控制 |
MATLAB simulation of an articulated two-link manipulator |
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| XIN ling,GU Hong-bing,WU Dong-su.MATLAB simulation of an articulated two-link manipulator[J].Electronic Instrumentation Customer,2009,16(2):95-96. |
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| Authors: | XIN ling GU Hong-bing WU Dong-su |
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| Affiliation: | Nanjing University of Aeronautics and Astronautics;Nanjing 210016;China |
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| Abstract: | This paper introduce the classical question--inverted pendulum and its basic principle, and the implementation method of the inverted pendulum＇ s control. For the research of inverted pendulum is an .important engineering background,the paper present the Matlab simulation to PD control of an articulated two-link manipulator with the Matlab simulation of inverted pendulum. |
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| Keywords: | Maltab |
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