论文部分内容阅读
本文针对参数未知及负载不确定下的机器人运动控制问题,提出了一种形式非常简洁的自适应阻抗控制算法,它能使机器人系统跟踪目标阻抗并保证跟踪误差的渐近稳定性及机器人与外界整体系统的稳定性,本文还就无直接力反馈控制方法进行了讨论。
Aiming at the problem of robot motion control with unknown parameters and uncertain load, this paper proposes a very simple and adaptive adaptive impedance control algorithm which can make the robot system track the target impedance and ensure the asymptotic stability of the tracking error and the robot and the outside world The stability of the overall system, this article also no direct force feedback control method are discussed.