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相關文獻
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題 名 | Digital Redesign for the Control of a Closed-Chain Redundant Manipulator=以數位重新設計來控制具封閉鏈多餘自由度機器人系統 |
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作 者 | 陳清華; | 書刊名 | 吳鳳學報 |
卷 期 | 5 1997.06[民86.06] |
頁 次 | 頁71-83 |
分類號 | 448.94 |
關鍵詞 | 數位重新設計; 封閉鏈多餘自由度機器人; Digital redesign; Closed-chain redundant robot; |
語 文 | 英文(English) |
中文摘要 | 本論文以一具封閉鏈多餘自由度機器人系統來說明用數位重新設計技巧來設計其 離散時間之控制法則。對此種大型且互相耦合之非線系統,當其處在平衡點位置附近時,施 以一平衡點之力矩就可對其平衡點作近似化,以消除其非線性作用,此平衡點力矩可根據其 運動軌跡來先加以計算求得。接著,其連續系統之控制器將以數位重新設計來轉化成數位控 制器,以符合機器人系統之真實控制情形。以數位重新設計技巧來設計其數位控制器具有簡 單,方便之優點,並且經由模擬結果顯示,即使其取樣時間很大 (0.5 秒 ),以數位重新設 計所得之控制器仍可使保持此系統之穩定。 |
英文摘要 | A closed-chain robot system is used in this paper to illustrate the discrete-time control methodology by using the digital redesign technique. The nonlinear coupled equation is linearized about the equilibrium state by exerting the nominal torques to eliminate the nonlinear effects. This nominal torques can be precomputed if the motion planning is set up. And, the digital redesign technique is applied to calculate the feedback gain matrix such that the system is stable even though the sampling time is large. Simulation results show that this control method can perform well with a large sampling period. |
本系統中英文摘要資訊取自各篇刊載內容。