| 引用本文: | 刘美华, 常文森 ,张良起.机器人的鲁棒预测控制[J].控制理论与应用,1989,6(1):65~72.[点击复制] |
| Liu Meihua, Chang Wensen, Zhang Liangqi.Robust Prediction Control of Robotic Manipulators[J].Control Theory and Technology,1989,6(1):65~72.[点击复制] |
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| 机器人的鲁棒预测控制 |
| Robust Prediction Control of Robotic Manipulators |
| 摘要点击 1040 全文点击 410 投稿时间：1988-03-08 修订日期：1988-06-17 |
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| DOI编号 |
| 1989,6(1):65-72 |
| 中文关键词 |
| 英文关键词 |
| 基金项目 |
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| 中文摘要 |
| 本文提出基于误差预测的机器人鲁棒控制器。考虑到机器人的动力学建模误差影响其控制性能，本文建立机器人的误差模型，给出预测建模误差对运动轨迹偏差的作用的有效方法，并提出建模误差的鲁棒性补偿。本文分别在关节空间和直角空间针对冗余机器人和非冗余机器人提出鲁棒预测控制器设计，其有效性由仿真例子检验。 |
| 英文摘要 |
| This paper presents an efficient robust control design approach for robotic manipulators based on modeling error prediction. As the inevitable modeling errors in the dynamic equation deteriorate the control performance of the manipulator system, an error model is established and an effective method for predicting the effects of modeling errors to trajectory tracking is developed and their robust compensation proposed. Robust controllers for redundant and non-redundant robotic manipulators in joint and Cartesian spaces are presented and tested by simulation results. |
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