| 机器人的分散控制 |
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| 引用本文： | 胡晏如,常文森.机器人的分散控制[J].国防科技大学学报,1988,10(2):27-33. |
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| 作者姓名： | 胡晏如 常文森 |
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| 作者单位： | 国防科技大学自动控制系
(胡晏如)，国防科技大学自动控制系(常文森) |
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| 摘 要： | 本论文提出了一种新的机器人分散控制方法,这种分散控制方法把机器人系统的每个自由度作为一个子系统,首先从解耦子系统模型综合出N个分散线性控制器,然后在每个子系统内引入一个自适应控制环补偿非线性耦合项的影响。这种分散控制器的优点是:控制器结构简单、计算量小、易于用多微机系统实现并行控制。
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| 关 键 词： | 机器人控制 分散控制 |
| 收稿时间： | 1987/5/30 0:00:00 |
Decentralized Control of Robotic Manipulators |
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| Hu Yanru and Chang Wensen.Decentralized Control of Robotic Manipulators[J].Journal of National University of Defense Technology,1988,10(2):27-33. |
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| Authors: | Hu Yanru and Chang Wensen |
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| Institution: | Hu Yanru;Chang Wensen |
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| Abstract: | This paper presents a decentralized control approach to robotic manipul-ators. Every degree of freedom of the robotic system is served as a subsystemby using the decentralized method. First we synthsize N decentralized linearcontrollers from the decoupled subsystem models of the robotic system. Inorder to compensate for the influence of nonlinearity and coupling we introd- uce an adaptive loop into every subsystem. The advantages of the control lawproposed are: the controller is simple; calculation time is small; the decentra-lized control proposed is convenient to be implemented by parallel micropro-cessor system. |
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| Keywords: | Robot control Decentralized control |
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