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題 名 | On the Adaptive Tracking Control for Manipulator Arms Considering Electrical Actuator Dynamics=考慮致動器動態效應於機械臂之適應性軌跡控制 |
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作 者 | 俞國平; 楊榮華; | 書刊名 | 科技學刊 |
卷 期 | 10:2 2001.03[民90.03] |
頁 次 | 頁97-105 |
分類號 | 448.94 |
關鍵詞 | 機械臂; 適應性控制; 軌跡追蹤; Manipulator; Adaptive control; Trajectory tracking; |
語 文 | 英文(English) |
中文摘要 | 一般而言,致動器動學(actuator dynamics)在機器人(robot)控制的領域 中佔有一席重要的地位,尤其應用在高速操作之狀況。因此,在設計控制器時,考慮致動器 動力效應,以達到高性能的機器人控制系統,將成為不可避免的一種趨勢。然而,在機器人 控制系統中包含致動器動力效應,會使得控制器結構及其相對應的穩定性分析變得更複雜。 此外,傳統的適應調變機構所需要的迴歸矩陣(regressor matrix)即時運算非常耗時而且 昂貴。因此,在本篇研究報告中介紹一種可以規避上述缺點的新奇方法,使得迴歸矩陣僅僅 包含可事先計算出來的目標軌跡,計算的負荷也因此大規模地降低許多,經由Lyapunov分析 將可確認本系統可達成,所謂的半全域之穩定性(semi-giobal asymptotical stability) ,而且,模擬結果也充分驗證出控制器的有效性。 |
英文摘要 | Generally, the actuator dynamics constitutes an important part in the robot dynamics, especially when high operation speed is required. Thus, to achieve high performance robot control system, the inclusion of actuator dynamics in the controller design will be inevitable. Nonetheless, the consideration of actuator dynamics in the robot control system may complicate the controller structure and its corresponding stability analysis. Moreover, on-line computation of the regressor matrix in conventional adaptation mechanism is always time-comsuming and expensive. Therefore, this study presents a novel approach to circumvent the above-mentioned drawbacks. In this scheme, the regressor matrix merely contains the desired trajectories which can be calculated a priori, and hence, the computational burden is largely reduced. The so-called semi-global asymptotical stability is guaranteed via Lyapunov analysis and simulation results also show the effectiveness of the controller. |
本系統中英文摘要資訊取自各篇刊載內容。