| 基于加速度传感器的机器人学习控制 |
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| 引用本文： | 刘德满,吴成东.基于加速度传感器的机器人学习控制[J].沈阳建筑工程学院学报(自然科学版),1992,8(4):333-338. |
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| 作者姓名： | 刘德满 吴成东 |
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| 作者单位： | 东北工学院，沈阳建筑工程学院 |
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| 基金项目： | 中科院机器人学开放研究实验室资助课题 |
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| 摘 要： | 加速度传感器安装在机械手手部,各关节的加速度由加速度分解算法得到。文中提出的学习控制算法,利用加速度误差校正驱动器运动。算法的有效性通过PUMA562机器人的计算机仿真实验得到了证实。提出了一种基于几何级数的极限条件估计学习控制过程收敛条件的方法。
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| 关 键 词： | 加速度 传感器 工业机器人 |
Learning control of robotic manipulators based on acceleration sensor |
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| Liu Deman.Learning control of robotic manipulators based on acceleration sensor[J].Journal of Shenyang Archit Civil Eng Univ: Nat Sci,1992,8(4):333-338. |
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| Authors: | Liu Deman |
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| Abstract: | A acceleration sensor is mounted at the hand of robotic manipulator, the joint acceleration is obtained by using acceleration resolved control method. Then, a learning control method for a robot manipulator is introduced. The accelerationerror is used to correct the motion of the industrial manipulator motors. The validity of the proposed algorithm is proved through a computer simulation of PUMA562 robot. A theoretical method which estimates the convergence condition of the learning control process based on the limit condition of a geometric series is proposed. |
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| Keywords: | acceleration sensors learning control industrial robots computerized simula-tion resolving acceleration repeat operation |
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