一种机器人的反馈跟踪控制系统

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基金项目: 中国科学院科学基金资助的课题

A Feedback Tracking System for Robot

摘要: 本文对包括机器人在内的一类系统,指明了于跟踪控制所必需的反馈信息;结合速度控制和加速度控制,提出了使机器人跟踪并抓住空间做任意运动的物体的反馈控制方法,其与别种方法的不同之处在于:该方法能用于机器人手爪的方位不能事先确定的场合;数值模拟结果表明:所提出方法行之有效。

Abstract: The feedback information necessary for tracking is specified for a class of systems including robots, A feedback coatrol method is proposed by which a robot can track and grasp an arbitrarily moving object in space, It differs from the other methods in that it remains effective when orientation of the claw is impossible to 6e known is advance, Its validity is verified by digital simulation.

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