机械手鲁棒自适应PD控制
Aiming at the trajectory tracking of the robot manipulator,a robust adaptive PD control strategy for robot manipulators is proposed.The drawback of the initial output torque oversize is avoided.Considering that the controller consists of non-linear compensation control and PD feedback control,uncert...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2011-01-01
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| Series: | Jixie chuandong |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2011.11.006 |
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