一种新的机器人模型及其控制算法
A New Robot Model and Associated Control Algorithm
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摘要: 机器人模型通常写为H(q)q+C(q,q)q+G(q)=τ,其中可适当定义矩阵C(q,q)使 得H-2C是反对称阵,这一性质对机器人控制设计十分有用.目前文献中认为这样的C是 唯一确定的.本文采用数学力学工具Spatial Notation推导出一种新形式的机器人模型,证 明了上述C并非唯一确定的.文中还以Slotine,Li的著名自适应控制方案为例说明,若用 本文的新模型替换传统模型,将会设计出实时计算量少得多的控制算法.Abstract: Robot dynamic model is usually written as H(q)q+C(q,q)q+G(q)=τ, where the matrix C can be properly defined so that H-2C is skew-symmetric. This property greatly facilitates robot controller design. It is believed that such C is uniquely determined. In this paper a new expression for robot the model is derived with the spatial notation developed in recent years, which shows that the matrix C with above property is not uniquely defined. Furthermore, the well-known robot adaptive control strategy proposed by Slotine and Li is taken as an example to demonstrate that replaced the traditional model with the new model presented in this paper, a much more computationally efficient adaptive control algorithm than the existing one can be obtained.
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Key words:
- robot dynamics /
- robot control /
- real time control algorithm
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