| 机器人球关节的优化控制 |
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| 引用本文： | 诸静 张永康. 机器人球关节的优化控制[J]. 浙江大学学报(工学版), 1992, 26(1): 26-33 |
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| 作者姓名： | 诸静 张永康 |
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| 作者单位： | 浙江大学电机系(诸静，张永康)，浙江大学电机系(高健) |
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| 摘 要： | 本文提出了机器人步进型球关节点位时间最优控制和改进的加密双判别函数插补原理,并分别应用于PTP与CP控制中,通过原理探索、判据定义和编程运行,在实际试验中表明具有良好控制效果。
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| 关 键 词： | 机器人 球关节 最优控制 |
Optimal control for sphere joint actuator used in robots |
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| Zhu Jing Zhang Yongkang Gao Jian. Optimal control for sphere joint actuator used in robots[J]. Journal of Zhejiang University(Engineering Science), 1992, 26(1): 26-33 |
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| Authors: | Zhu Jing Zhang Yongkang Gao Jian |
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| Affiliation: | Dept. of Electrical Engineering |
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| Abstract: | This paper put forward principles of PTP's Time-Optimal-Control ( TOC) and reconstructed cryptic-Double-Differentiate-Functional-interpolation (RCDDFI) for stepping Sphere-Joint -actuator (SJA). TOC and RCDDFI were used in SJA's FTP and CP controling. Through theory exploring, criterion defining and progam running, we found thai they had a very good controling result in actual application. |
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| Keywords: | robot sphere joint actuator optimal control |
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