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本文研究当机械臂的终端受有约束时的控制问题,其中心内容是给出“任务规范投影算子”的概念,利用它首先将机械臂的动态方程解耦为两组方程,它们分别描述了运动与约束力,在此基础上给出了机械臂的控制律,使闭环系统跟踪期望的速度与约束力。
In this paper, we study the control problem when the manipulator’s end is constrained. The central content of this paper is to give the concept of “mission-standard projection operator”. Firstly, the dynamic equation of the manipulator is decoupled into two sets of equations, The motion and restraint, based on this, gives the control law of the manipulator to make the closed-loop system track the desired speed and restraint.