共查询到20条相似文献,搜索用时 78 毫秒
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在考虑摩擦力的情况下,利用传感器所感知的机器人和未知轮廓间的相互作用力确接触处轮廓的切矢和法矢,据此建立端点约束坐标系,在该坐标系中沿切矢进行位置控制并沿法矢进行力控制。实现机器人对未知轮廓的自律跟踪运动。由跟踪运动所确定每一点处切矢信息及该点位置信息构造未知轮廓几何模型。在机器人学开放研究实验室的PUMA562机器人上实现了上述自律运动并建立了环境模型。 相似文献
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方差约束下线性连续系统的多指标随机控制 总被引:4,自引:1,他引:4
本文由部分组成,第一部分考虑具有给定H∞范数,圆形区域极点及稳态方差约束的线性连续系统的控制器设计问题,第二部分则进一步研究方差及圆形区域极点的约束下不确定性连续系统的性能鲁棒控制器设计问题,文中提出有效的代数黎卡提方程方法来解决如上问题,并用数值算例说明所提方法的直接与可行性。 相似文献
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利用广义逆理论和奇异值分解理论,研究离散型线性随机系统的综合控制设计问题。旨在设计期望的控制器,使闭环系统的特征集合定位在单位圆内的一个环形区域之中,且每一个稳态状态方差都符合即定的约束。本文提供一种综合设计方法,使这一类应用广泛的工程控制系统同时具备良好的稳定特性和动态性能。通过研究一个修正的代数Lyapunov矩阵方程,导出控制器存在的充分条件和解集合的表达式,并提供了一个算例。本方法所得的结 相似文献
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袁军 《控制工程(北京)》1995,(2):8-12
本文给出了采用力外环的机器人控制的设计方案,利高精度六维腕力传感器在工业机器人Movemaster-EX和PUMA562上进行该控制方案的实验研究。实验结果表明,采用力外环的机器人力控制方案其结构简单,通用性好,适合于各种不同用途的机器人力控制器设计。 相似文献
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圆形区域极点及方差约束下线性离散系统的控制设计 总被引:2,自引:1,他引:2
本文考虑线性离散随机系统在圆形区域极点及方差约束睛的控制器设计问题,即设计状态反馈控制器,使闭环系统同时满足预先给定的圆形区域极点约束以及预先给定的各状态分量的方差约束。文中利用代数黎卡提方程方法解决了上述问题。 相似文献
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本文研究了Delta算子描述的不确定系统具有闭环极点约束的状态反馈控制,基于LMI和李亚普诺夫二次稳定的方法,提出了系统满足要求的极点配置的充分必要条件。用一个线性矩阵不等式组的可行解给出了状态反馈控制律的参数化表示,最后,用一个例子验证了该方法的可行性。 相似文献
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部分扇形区域极点配置的可靠控制 总被引:1,自引:0,他引:1
针对线性定常系统,采用连续增益故障模型提出了考虑执行器故障的部分扇形区域极点配置的可靠控制问题.当系统发生故障时,正常控制的闭环系统极点可能跳出所给定的复平面区域,而可靠控制的闭环系统仍然保持极点在指定的区域内。本文利用线性矩阵不等式(LMI)给出了部分扇形区域极点配置的可靠控制器存在的充分条件。研究成果的仿真,不仅验证所提出方法的可行性;而且比较了部分扇形区域极点配置正常控制器和可靠控制器的控制效果。进一步看出对系统进行可靠极点配置的必要性。 相似文献
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针对非完整约束移动机器人运动学与动力学模型,根据轨迹跟踪控制目标的需要,设计了一种简单的控制器,该控制器结合了运动学控制器设和动力学控制器两部分;针对运动学模型,采用自适应算法对其未知参数进行估计,针对系统动力学模型,采用单层神经网络算法克服未知扰动对系统稳定性的影响,使速度误差尽可能地缩小;在Lyapunov稳定性理论的基础上证明了系统的收敛性和稳定性,该控制算法简单有效,易于实现;仿真结果表明:该控制策略可以实现对移动机器人期望轨迹的稳定跟踪,验证了算法的有效性。 相似文献
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Redundant Input Safety Tracking for Omnidirectional Rehabilitative Training Walker with Control Constraints 下载免费PDF全文
This study proposes a nonlinear safety tracking method based on redundant degrees of freedom with control constraints to protect against actuator faults that may occur in robotic rehabilitative walkers. A redundant input model with uniform actuator faults is constructed by separating the corresponding columns of the control matrix, and an adaptive robust control method is presented to deal with the separated term that is considered in relation to the extrinsic bounded interference that occurs on robotic walker systems. Based on the backstepping technique, an adjustable control law can be designed to maintain stability in terms of solving linear matrix inequality. The trajectory tracking error performance and the velocity tracking error performance are derived simultaneously. As an application, simulation results confirm the effectiveness of the proposed method and verify that the walker can provide safe sequential motions even when one wheel actuator fails. 相似文献
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In order to avoid wheel slippage or mechanical damage during the mobile robot navigation, it is necessary tosmoothly change driving velocity or direction of the mobile robot. This means that dynamic constraints of the mobile robotshould be considered in the design of path tracking algorithm. In the study, a path tracking problem is formulated asfollowing a virtual target vehicle which is assumed to move exactly along the path with specified velocity. The drivingvelocity control law is designed basing on bang-bang control considering the acceleration bounds of driving wheels. Thesteering control law is designed by combining the bang-bang control with an intermediate path called the landing curve whichguides the robot to smoothly land on the virtual target's tangential line. The curvature and convergence analyses providesufficient stability conditions for the proposed path tracking controller. A series of path tracking simulations and experimentsconducted for a two-wheel driven mobile robot show the validity of the proposed algorithm. 相似文献
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In this paper, modeling and adaptive motion/force tracking control is considered for a class of mobile manipulators under the holonomic and affine constraints with the presence of uncertainties and disturbances. Based on a suitable reduced dynamic model, adaptive controllers are proposed to ensure that the states of a closed‐loop system asymptotically track desired trajectories while the constraint force remains bounded by tuning design parameters. Detailed simulation results confirm the effectiveness of the control strategy. 相似文献
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The success of robot assembly tasks depends heavily on its ability to handle the interactions which take place between the parts being assembled. In this paper, a robust motion-control method is presented for robot manipulators performing assembly tasks in the presence of dynamic constraints from the environment. Using variable structure model reaching control concept, the control objectives is first formulated as a performance model in the task space. A dynamic compensator is then introduced to form the switching function such that the sliding-mode matches the desired model. A simple variable structure control law is suggested to force the system to reach and stay on the sliding mode so that the specified model is achieved.The proposed method is applied to control the prismatic joint of a selective compliance assembly robot-arm type robot for the insertion of printed circuit board into an edge connector socket. Various amounts of interaction forces are generated during the operation. Experimental and simulation results demonstrated the performance of the variable structure model reaching control approach. In comparison, it is shown that the popular position controllers such as proportional plus derivative control and proportional plus derivative with model-based feedforward control are not suitable for achieving good trajectory tracking accuracy in assembly tasks which experience potential interaction force. 相似文献
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作为自动化和智能化时代的代表,机器人技术的发展成为智能控制领域研究的焦点,各种基于机器人的智能控制技术应运而生,机器人被越来越多地应用于实现与环境之间的复杂多接触交互任务.本文以机器人复杂多接触交互任务为核心问题展开讨论,结合基于强化学习的机器人智能体训练相关研究,对基于强化学习方法实现机器人多接触交互任务展开综述.概述了强化学习在机器人多接触任务研究中的代表性研究,当前研究中存在的问题以及改进多接触交互任务实验效果的优化方法,结合当前研究成果和各优化方法特点对未来机器人多接触交互任务的智能控制方法进行了展望. 相似文献
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本文研究一类具有状态约束的多智能体系统优化控制问题, 提出了一种具有固定时间收敛特性的分布式优化控制算法. 该控制算法由局部投影模块、一致性模块和梯度模块构成, 其中局部投影模块确保智能体的状态在固定时间内收敛到局部约束集合, 基于时变增益的一致性模块实现所有智能体的状态在固定时间内收敛到一致值, 基于时变增益的梯度模块实现智能体的状态在固定时间内收敛到最优解. 利用凸优化理论和固定时间李雅普诺夫理论, 分析了算法的固定时间收敛特性. 算法收敛时间的上界值不依赖系统的初始条件, 因而可以根据任务需求来预先设计收敛时间. 最后通过数值仿真验证了理论结果的有效性. 相似文献