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本文提出一个新的机器人控制方法。这个方法结合了“计算力矩”方法和自适应方法各自的优点.本方法首先利用机器人动力学模型进行非线性反馈和前馈补偿使机器人各关节解耦.然后在此基础上对含有一个非线性误差耦合项的二阶线性系统设计离散模型跟随自适应控制器。用基于 Popov 超稳定性的离散模型跟随自适应机构来克服因建模不精确和负载变化所造成的偏差.仿真结果表明,应用本文所提方法,控制系统的性能满足快速性和精确性的要求并且鲁棒性很强。
This paper presents a new method of robot control. This method combines the advantages of both “computational moment” method and adaptive method.Firstly, this method decouples the joints of robot by nonlinear feedback and feedforward compensation by using the robot dynamics model.And then, Second Order Linear System Design of Error Coupled Terms Discrete Model Following Adaptive Controller. The discrete model based on Popov super-stability is used to follow the adaptive mechanism to overcome the inaccuracy caused by modeling inaccuracy and load variation. The simulation results show that the proposed method can control the performance of the system to meet the requirements of fastness and accuracy And very robust.