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本文提出一种自校正极点配置法进行机器人机械手的位置和速度控制。首先将复杂的机械手系统由一组离散时间的差分方程离散化;然后根据所估计的参数用极点配置法来设计自适应控制器;最后给出了计算机的仿真结果。
This paper presents a self-tuning pole placement method for robot manipulator position and velocity control. First, the complex manipulator system is discretized by a set of discrete-time difference equations. Then, the controller is designed by using the pole placement method according to the estimated parameters. Finally, the simulation results of the computer are given.