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加速度传感器安装在机械手手部,各关节的加速度由加速度分解算法得到。文中提出的学习控制算法,利用加速度误差校正驱动器运动。算法的有效性通过PUMA562机器人的计算机仿真实验得到了证实。提出了一种基于几何级数的极限条件估计学习控制过程收敛条件的方法。
The acceleration sensor is mounted on the hand of the robot and the acceleration of each joint is obtained by the acceleration decomposition algorithm. The learning control algorithm proposed in this paper uses the acceleration error to correct the driver motion. The effectiveness of the algorithm is confirmed by computer simulation of the PUMA562 robot. A method of estimating the convergence condition of the learning control process based on the geometrical limit number condition is proposed.