欠驱动机器人轨迹控制实验
首发时间:2013-06-28
摘要:对于水平3自由度欠驱动机器人的末端轨迹控制,两主动关节关节同时耦合控制被动关节是研究的一个难点。本文以模糊控制为理论基础,采用多输出控制策略,在水平3自由度欠驱动机械臂实验台上进行末端轨迹控制,实现了两主动关节同时耦合控制被动关节的目的。所得试验结果与单输出控制策略的末端轨迹控制进行了对比分析,结果表明多输出控制比单输出控制有更高的控制精度。
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Experimental on Trajectory control of a Underactuated Robot
Abstract:The free joint controlled by two active joints which is coupled simultaneously, is difficult in the study of trajectory control of the underactuated robot. Based on fuzzy control theory and multi-joint coupling strategy, The experiment of trajectory is realized on the 3R planar underactuated robot experiment table with the two active joint coupled the free joint simultaneously. Compared with single joint coupled result, the higher control accuracy of multi-joint coupled system is presented by the experiment result.
Keywords: underactuated robot fuzzy control trajectory control
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