| 机械手的自适应前馈补偿变结构控制及其微机实现 |
| |
| 引用本文： | 梁天培, 周其节, 苏春翌. 机械手的自适应前馈补偿变结构控制及其微机实现. 自动化学报, 1991, 17(5): 531-536. |
| |
| 作者姓名： | 梁天培 周其节 苏春翌 |
| |
| 作者单位： | 1.香港理工学院机械与轮机工程系;;;2.华南理工大学自动化系,广州 |
| |
| 摘 要： | 为了实现高速、高精度的机械手的控制,本文将自适应前馈补偿控制与变结构理论相结合,给出了一种新的鲁棒性控制方法.通过对机械手的实时控制,证明了该方法是可行的.
|
| 关 键 词： | 机械手 变结构控制 前馈补偿 应用 |
| 收稿时间： | 1989-07-26 |
Variable Structure Control of Robot Manipulator with Adaptive Feedforward COmpensator and its Implementation |
| |
| Liang Tianpei, Zhou Qijie, Su Chunyi. Variable Structure Control of Robot Manipulator with Adaptive Feedforward COmpensator and its Implementation. ACTA AUTOMATICA SINICA, 1991, 17(5): 531-536. |
| |
| Authors: | Liang Tianpei Zhou Qijie Su Chunyi |
| |
| Affiliation: | 1. Dept.of Mechanical and Marine Engineering,Hong Kong Polytechnic,Hong Kong;Dept.of Automation,South China University of Technology,Guangzhou |
| |
| Abstract: | In order to realize high-speed, high-precision control of robot manipulators, a new robust control algorithm is proposed by coupling the adaptive feedforward compensator to the variable structure control. Real-time control results show the validity and feasibility of the presented method. |
| |
| Keywords: | Robot manipulator variable structure control feedforward compensation application |
| 本文献已被 CNKI 维普 等数据库收录！ |
| 点击此处可从《自动化学报》浏览原始摘要信息 |
|
点击此处可从《自动化学报》下载全文 |
