Simulation and Research of A Manipulator Control System Based on PD Calculation Torque Method

被引：0
|
作者：
Wang, Aihui [1 ,2 ]
Han, Wei [1 ]
Cai, Fei [1 ]
Hu, Ningning [1 ]
Zhao, Yali [2 ]
机构：
[1] Zhongyuan Univ Technol, Sch Elect & Informat Engn, Zhengzhou 450007, Henan, Peoples R China
[2] Henan Normal Univ, Sch Mech & Elect Engn, XinLian Coll, Zhengzhou 450000, Henan, Peoples R China
来源：
2018 INTERNATIONAL CONFERENCE ON ADVANCED MECHATRONIC SYSTEMS (ICAMECHS) | 2018年
关键词：
ITERATIVE LEARNING CONTROL; ADAPTIVE-CONTROL; ROBOT;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
Based on the PD control torque, the PD calculation moment method introduces nonlinear compensation to transform the manipulator, which is a multi-input, multi-output, nonlinear and strongly coupled system, into a decoupled linear time-invariant system, so as to achieve a good effect of controlling the manipulator. The feedback linearization theory in nonlinear control theory is used to prove the introduced feedback nonlinear compensation. In addition, the MATLAB software is used to analyze and research the control system, and good control effect is obtained.
引用
收藏
页码：58 / 61
页数：4
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