| 引用本文: | 徐建闽 ， 朱蓓蓓 ，周其节.一种柔性前臂机械手控制算法*[J].控制理论与应用,1998,15(3):469~472.[点击复制] |
| XU Jianmin， ZHU Beibei and ZHOU Qijie.A New Control Algorithm of a Two-Link Robotwith a Flexible Forearm[J].Control Theory and Technology,1998,15(3):469~472.[点击复制] |
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| 一种柔性前臂机械手控制算法* |
| A New Control Algorithm of a Two-Link Robotwith a Flexible Forearm |
| 摘要点击 1067 全文点击 480 投稿时间：1996-03-21 修订日期：1997-02-27 |
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| DOI编号 |
| 1998,15(3):469-472 |
| 中文关键词 ：柔性机器人 轨迹跟踪 计算力矩 |
| 英文关键词 flexible robot trajectory tracking computed torque |
| 基金项目 |
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| 中文摘要 |
| 本文研究柔性机器人的轨迹跟踪控制问题，通过坐标变换导出以可测关节角为变量的柔性机器人的动态模型，在Deluca等人[1]提出的CTJ控制算法基础上提出一种改进的计算力矩控制算法ICTJ，并从理论上证明了新算法的收敛性，仿真结果表明ICTJ算法比CTJ算法在跟踪精度上有明显的改善. |
| 英文摘要 |
| A new trajectory tracking control algorithm of the flexible robot is developed in this paper. A Lonlinear dynamic model of the robot can be obtained by coordinate transformation. The presented algorithm （ICTJ) is based on CTJ control algorithm proposed by Deluca et al. The convergence of algorithm has been， roved. The simulation results have demonstrated that the ICTJ algorithm is better than CTJ algorithm in racking accuracy. |