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含有非驱动关节的机器人的运动控制比一般的机器人要困难得多 .因为非驱动关节不能直接控制 ,系统属于非完全可控系统 ,一般的光滑反馈控制方法对这样的系统是无效的 .本文提出了一种学习控制的方法 ,通过学习获得高精度的前馈控制 ,实现欠驱动机器人的高精度运动控制 ,并在一台实际的欠驱动机器人上进行了实验 ,给出了实验结果
The motion control of robots with non-driven joints is much more difficult than that of ordinary robots.Because the non-driven joints can not be directly controlled, the system belongs to the non-fully-controllable system, and the general smooth feedback control method is ineffective for such a system. A method of learning control is adopted to obtain high-precision feed-forward control through learning to realize high-precision motion control of underactuated robot. Experimental results on an actual under-driven robot are given