区域极点配置在机器人手臂运动模型中的分析及比较
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引用本文:郭一珂,王福忠,孙博.区域极点配置在机器人手臂运动模型中的分析及比较[J].计算技术与自动化,2012,(4):21-25
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作者单位
郭一珂,王福忠,孙博 (1.沈阳建筑大学 控制工程与信息学院,辽宁 沈阳110168
2.沈阳建筑大学 理学院,辽宁 沈阳110168
3.辽宁省灯塔市红阳热电有限公司,辽宁 灯塔111300) 
中文摘要:针对一类线性系统的区域极点配置的稳定问题,以机器人手臂为研究对象,对被控对象进行相关描述并且建立运动模型。给出线性系统区域极点配置在机器人手臂的运动模型稳定中的重要结论。利用LMI求解出控制器,并例举一个具体实例通过计算机仿真证实结论的正确有效性,通过分析得出区域极点配置的控制方式较精确极点配置的控制方式在稳定性特征上能够更好的控制系统,使得系统满足静态与动态特性。
中文关键词:区域极点配置  稳定性  机器人手臂
 
Comparative and Analysis of Regional Poles in The Robotic Arm Movement Model
Abstract:For a class of linear system of regional pole configuration in the stability problem , we describe and built the correlation movement model in a robotic arm as the research object. we present a important conclusion in stability problem of the regional poles with the movement model of robotic arm. We use the LMI(Linear Matrix Inequality) to solve out the controller, and cited a specific example through computer simulation to confirm the correct and effectiveness ofthe conclusion, analysis the regional poles control way is better than the precise poles control way on the features of stability in control system . The regional poles control way can meet the system satisfactions better on the static and dynamic features.
keywords:regional pole configuration  stability  robotic arm
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