多自由度柔性机械臂非线性连续时变反馈控制方法OACSTPCD
Nonlinear Continuous Time-varying Feedback Control Method for Multi-degree of Freedom Flexible Manipulators
针对当前多自由度柔性机械臂控制过程中,机械臂定位控制系数选择合理性较低,导致多自由度柔性机械臂控制时延较长且运动轨迹与预设轨迹存在较大差异的问题,提出多自由度柔性机械臂非线性连续时变反馈控制方法.将拉格朗日算子作为计算基础,以能量的方式构建多自由度柔性机械臂动力学模型.考虑到机械臂的负载状态,计算机械臂的重力矩,识别机械臂非线性连续时变反馈控制参数.设定非线性连续时变反馈控制规则,构建机械臂非线性控制器,实现机械臂定位控制.构建实验环节,实验结果…查看全部>>
In order to solve the long control delay of the multi degree of freedom flexible manipulator and the large difference between the motion trajectory caused by by low rationality of the selection of the positioning control coefficient of the multi degree of freedom flexible manipulator in the current control process of the manipulator,a nonlinear continuous time-varying feedback control method for the multi degree of freedom flexible manipulator is proposed.Ba…查看全部>>
江峰;苏麒
中化学交建同安产城融合建设(安庆)有限公司,安徽安庆 246003中化学交建同安产城融合建设(安庆)有限公司,安徽安庆 246003
计算机与自动化
自适应控制多自由度柔性机械臂反馈控制连续时变定位控制动态面控制
adaptive controlmulti-degree of freedom flexible manipulatorfeedback controlcontinuous time-varyingpositioning controldynamic face control
《机械制造与自动化》 2024 (2)
193-197,5
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