| 引用本文: | 刘德满，刘宗富，吴成东，尹朝万.基于加速度传感器的机器人极点配置控制[J].控制理论与应用,1994,11(1):50~57.[点击复制] |
| LIU Mande and LIU Zongfu，WU Chengdong，YIN Chaowan.Pole Placement Control of Robot Based-On Acceleration Sensor[J].Control Theory and Technology,1994,11(1):50~57.[点击复制] |
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| 基于加速度传感器的机器人极点配置控制 |
| Pole Placement Control of Robot Based-On Acceleration Sensor |
| 摘要点击 986 全文点击 475 投稿时间：1992-11-09 修订日期：1993-06-07 |
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| DOI编号 |
| 1994,11(1):50-57 |
| 中文关键词 机器人 加速度 线性化 极点配置 积分控制 积分作用 仿真实验 |
| 英文关键词 Robot accelerometer linearization pole placement integral effect simulation and exoeriment |
| 基金项目 |
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| 中文摘要 |
| 本文为工业机器人提出了一种极点配置控制法。这种控制方法的优点有：一是它的积分作用消除了机器人的微小扰动和稳态误差；二是加入了加速度反馈，抑制了由电枢电感所引起的机械手的振动。最后，给出了PUMA562机器人的计算机仿真和实验结果验证了此控制法的有效性。 |
| 英文摘要 |
| This paper proposed a pole placement control method for industrial robot. This control method has following advantages: First, its integral effect eliminates minor disturbances and steady errors; Second, the poles of the close-loop system can be placed arbitrarily, therefore, it can guarantee stability of the close-loop system and specify the transient response of state variables; Third, the acceleration feedback is added to suppress the vibration of robotic manipulator caused by inductance of armature circuit. Finally, the computer simulation and experiment results for PUMA562 are given to demonstrate the effectiveness of proposed control method. |