论文部分内容阅读
本文考虑到机械手的不确定因素主要来源于负载这一特点,得出了一个适合于机器人工作空间控制的动力学形式,基于这一动力学形式提出了一种变目标控制方案。它是一个具有全工作空间操作能力的负载自适应控制律,解决了奇异问题给工作空间直接控制带来的困扰,并指出当加速度可测时,控制律中可完全避免逆运动学运算。
In this paper, we consider that the uncertainty of the manipulator mainly comes from the characteristics of the load, and come up with a dynamic form suitable for the control of the working space of the robot. Based on this dynamical form, a variable-objective control scheme is proposed. It is a load adaptive control law that has the ability to operate in full working space and solves the problem of singularity problems caused by the direct control of the work space. It also points out that the inverse law of motion can be completely avoided in the control law when the acceleration is measurable.