机械科学与技术2001，Vol.20Issue(3)：336-337,345,3.
具有简单重力补偿的机械手反馈控制
Feedback Control with Simple Gravity Compensation of Robotic Manipulators
摘要
Abstract
Referring to the point to point control problem, this work present some new control algorithms for robotic manipulators. By employing a novel Lyapunov function, we proved that PD plus simple gravity compensation control laws are enough to globally stabilize robotic manipulators. Following the same approach and passive property in robotic system, we presented output feedback control laws with simple gravity compensation to globally stabilize robotic manipulators. Since simple gravity compensation term, that is, unique gravity term at desired position, can be calculated off-line, our control algorithms reduce substantially the calculation complexity of the controller.关键词
机械手/PD控制规则/重力补偿/无源性/输出反馈控制分类
信息技术与安全科学引用本文复制引用
吴方向,周宗锡,龚诚..具有简单重力补偿的机械手反馈控制[J].机械科学与技术,2001,20(3):336-337,345,3.基金项目
国家自然科学基金(69774010)和航空科学基金(97D53040)资助 （69774010）
