井冈山大学学报（自然科学版）Issue(5)：46-53,8.DOI:10.3969/j.issn.1674-8085.2012.05.011
一类基于计算转矩的机器人控制方法性能分析
PERFORMANCE EVALUATION OF CONTROLLERS BASED ON COMPUTED TORQUE FOR ROBOT MANIPULATORS
摘要
Abstract
The paper compares the performance of five kinds of controllers based on computed torque with the problem of robot motion control: computed torque control with fixed gains, computed torque control with varying gains tuned via fuzzy approach, sectorial fuzzy controller, composite nonlinear feedback controller with saturation function and composite nonlinear feedback controller without saturation function. All the controllers are model-based methods and have the complete nonlinear dynamics compensation. The physical limitations are considered, such as actuator saturation and friction. The transient response and steady performance are compared among these control algorithms under the same desired trajectory. The simulation results show that the composite nonlinear feedback controller with saturation function has the best transient response, while the sectorial fuzzy controller has the best steady performance.关键词
机器人控制/计算转矩/系统性能Key words
robot control/computed torque control/system performance分类
信息技术与安全科学引用本文复制引用
彭文东,王永雄..一类基于计算转矩的机器人控制方法性能分析[J].井冈山大学学报（自然科学版）,2012,(5):46-53,8.基金项目
国家自然科学基金重点项目资助(60935001) （60935001）
