[1]周骥平,朱兴龙,颜景平.冗余度机器人手臂负荷自适应估测控制算法[J].东南大学学报(自然科学版),2002,32(6):929-931.[doi:10.3969/j.issn.1001-0505.2002.06.023]
 Zhou Jiping,Zhu Xinglong,Yan Jingping.Load adaptive estimate control arithmetic in redundant robot manipulator[J].Journal of Southeast University (Natural Science Edition),2002,32(6):929-931.[doi:10.3969/j.issn.1001-0505.2002.06.023]
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冗余度机器人手臂负荷自适应估测控制算法()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
32
期数:
2002年第6期
页码:
929-931
栏目:
自动化
出版日期:
2002-11-20

文章信息/Info

Title:
Load adaptive estimate control arithmetic in redundant robot manipulator
作者:
周骥平1朱兴龙2 颜景平2
1 扬州大学机械工程学院,扬州 225009; 2 东南大学机械工程系,南京 210096
Author(s):
Zhou Jiping1 Zhu Xinglong2 Yan Jingping2
1 Mechanical Engineering College, Yangzhou University,Yangzhou 225009, China
2 Department of Mechanical Engineering, Southeast University, Nanjing 210096, China
关键词:
机器人 扰动力矩 加速度控制器 敏感系数 自适应控制
Keywords:
robot disturbance torque acceleration controller sensitivity adaptive control
分类号:
TP241
DOI:
10.3969/j.issn.1001-0505.2002.06.023
摘要:
在无力矩传感器力矩控制原理的基础上,提出了一种无力矩传感器自适应控制算法.通过设立期望的系统运行参考模型,使系统运行中敏感系数的取值与不受扰动影响的角加速度控制无关,从而保证系统的控制质量.运用MATLAB对2种控制方式在相同参数条件下进行仿真实验比较,证明了该算法的有效性.
Abstract:
A torque sensorless adaptive control arithmetic is proposed based on the torque control principle of torque sensorless in this paper. By establishing an expected model of the system reference, the method enables the sensitivity coefficient to be independent of the joint acceleration, thus ensuring the control quality of the system. The simulation results in different system with same parameters show that the control method is reasonable.

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备注/Memo

备注/Memo:
基金项目: 国家计委211工程资助项目(2102002001).
作者简介: 周骥平(1960—),男,博士,教授,jpzhou@yzu.edu.cn.
更新日期/Last Update: 2002-11-20