[1]倪受东,罗翔,文巨峰,等.冗余度机器人关节变量的滑模变结构控制研究[J].东南大学学报(自然科学版),2000,30(5):61-64.[doi:10.3969/j.issn.1001-0505.2000.05.014]
 Ni Shoudong,Luo Xiang,Wen Jufeng,et al.Variable Structure Control Applying in Redundant Robotics Joints Variables[J].Journal of Southeast University (Natural Science Edition),2000,30(5):61-64.[doi:10.3969/j.issn.1001-0505.2000.05.014]
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冗余度机器人关节变量的滑模变结构控制研究()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
30
期数:
2000年第5期
页码:
61-64
栏目:
自动化
出版日期:
2000-09-20

文章信息/Info

Title:
Variable Structure Control Applying in Redundant Robotics Joints Variables
作者:
倪受东 罗翔 文巨峰 颜景平
东南大学机械工程系,南京 210096
Author(s):
Ni Shoudong Luo Xiang Wen Jufeng Yan Jingping
Department of Mechanical Engineering, Southeast University, Nanjing 210096
关键词:
冗余度 滑模变结构 鲁棒性 动力学
Keywords:
redundant sliding variable structure Robust dynamics
分类号:
TP24
DOI:
10.3969/j.issn.1001-0505.2000.05.014
摘要:
对冗余度机器人关节变量的滑模控制进行了研究,并给出了其具体的算例仿真结果.
Abstract:
This paper researches in the control of redundant robotics joints variables by variable structure control system and giving out the simulation examples.

参考文献/References:

[1] Utkin V I.Variable structure systems with sliding modes.IEEE Transaction on Automatic Control,1977,22(2):625~631
[2] Sarpturk S Z.On the stability of discrete-time sliding mode control systems.IEEE Transaction on Automatic Control,1987,32(10):930~932
[3] Slotine J J.The robust control of robot manipulators.Int J Robotics Res,1985,4(2):210~215
[4] Itkis U.Control systems of variable structure.IEEE Transaction on Automatic Control,1976(4):178~184
[5] 徐缤昌,阙志宏.机器人控制工程.西安:西北工业大学出版社,1991.378~383

备注/Memo

备注/Memo:
基金项目:国家计委211工程资助项目(2102002001).
第一作者:男, 1966年生, 博士研究生.
更新日期/Last Update: 2000-09-20