机械与电子2016，Vol.34Issue(3)：72-74,80,4.
基于迭代学习控制律的五自由度机械臂研制
Design for a Five degree of Freedom Manipulator Based on Iterative Learning Control Law
摘要
Abstract
The five degree of freedom manipulator is composed of a three axis cantilever mechanism and a wrist joint mechanism.It achieves five degrees of freedom movement in three dimensional space movement.The movement of the external instrument is controlled by the wrist joint mechanism precisely. In term of automatic control,an iterative learning control algorithm is applied to obtain better trajectory tracking control effect and achieve remote operation process.关键词
五自由度机械臂/研制/迭代学习/拉格朗日方程Key words
five degree of freedom manipulator/design/iterative learning/Lagrange equation分类
信息技术与安全科学引用本文复制引用
王振玉,杨斌..基于迭代学习控制律的五自由度机械臂研制[J].机械与电子,2016,34(3):72-74,80,4.基金项目
乐山市科技局项目（14GZD054）；院级青年科学基金 （）
