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机器人控制目前是控制理论界的一个热门课题之一,人们一直在设法把现代控制理论中的成果用于机器人控制问题。但是,由于机器人操作手的数学模型是十分复杂的一组非线性微分方程,基于线性系统理论的一些现代控制方法不可能在机器人控制中有效地发挥作用。因此,人们试图应用各种特殊的非线性控制方法,其中包括Freund(1982)提出的非线性解耦方法和Slotine(1983)提出的滑动模控制
Robot control is currently one of the hot topics in the field of control theory. People have been trying to use the results of modern control theory for robot control. However, due to the mathematical model of robotic manipulator is a very complex set of nonlinear differential equations, some modern control methods based on linear system theory can not effectively play a role in robot control. Therefore, attempts have been made to apply various special nonlinear control methods, including the nonlinear decoupling method proposed by Freund (1982) and the sliding mode control proposed by Slotine (1983)