一种基于Lyapunov的机器人直角坐标系轨线控制
A Lyapunov Based Cartesian Trejactory Control for Robot Manipulators
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摘要: 本文提出一种可以使机器人直接跟踪直角坐标轨线而无须进行坐标变换的控制方法.文 中将讨论这种方法的物理意义,证明Lyapunov全局稳定性,并给出在PUMA 560模型上进 行模拟实验的结果.
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关键词:
- 机器人 /
- 任务空间 /
- 轨线控制 /
- Lyapunov稳定性
Abstract: This paper studies the feasibility of the traiectory control for robot manipulators in the operational space without coordinate transformation. We will first discuss the control algorithm proposed in this paper and its physical background. Second, we will show this control strategy is Lyapunov globally asymptotically stable. Third, some simulation results inclnding that obtained on the PUMA 560 model will be illustrated and explained.-
Key words:
- Robot control /
- operational space /
- trajectory tracking /
- Lyapunov stability
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