西南交通大学学报（英文版）2008，Vol.16Issue(1)：24-29,6.
Real-Time Discrete Adaptive Control of Robot Arm Based on Digital Signal Processing
Real-Time Discrete Adaptive Control of Robot Arm Based on Digital Signal Processing
1
作者信息
- 1. School of Electrical Engineering, Southwest Jiatong University, Chengdu 610031, China
- 折叠
摘要
Abstract
A discrete model reference adaptive controller of robot arm is obtained by integrating the reduced dynamic model of robot, model reference adaptive control (MRAC) and digital signal processing (DSP) computer system into an electromechanical system. With the DSP computer system, the control signal of each joint of the robot arm can be processed in real time and independently. The simulation and experiment results show that with the control strategy, the robot achieved a good trajectory following precision, a good decoupling performance and a high real-time adaptivity.关键词
Robot/ Model reference adaptive control (MRAC)/ Digital signal processing (DSP)/ Real-time control.Key words
Robot/ Model reference adaptive control (MRAC)/ Digital signal processing (DSP)/ Real-time control.分类
交通工程引用本文复制引用
..Real-Time Discrete Adaptive Control of Robot Arm Based on Digital Signal Processing[J].西南交通大学学报（英文版）,2008,16(1):24-29,6.
