论文部分内容阅读
本文研究一种具有动态可调的最优极点配置机器人控制问题．首先，给出机器人具有非线性前馈补偿的线性摄动方程，并给出多变量系统最优极点配置的递推计算公式．然后，讨论机器人在Ｋ时刻进行单步希望极点配置的控制方案，从而实现整个控制过程极点可调．最后，给出一典型两连杆机器人的设计实例及计算机数字仿真结果．
In this paper, we study a robot control problem with a dynamically adjustable optimal pole configuration. First, the linear perturbation equation with nonlinear feedforward compensation is given and the recursive formula for the optimal pole assignment of multivariable system is given. Then, the control scheme that the robot carries out the single-pole-of-pole configuration at the time of K is discussed, so as to realize the adjustable control of the pole. Finally, a typical two-link robot design examples and computer numerical simulation results.