On rate control of n-link manipulator robot

被引：2
|
作者：
Rodkina, A [1 ]
机构：
[1] Voronezh State Acad Construct & Architecture, Voronezh 394088, Russia
来源：
MATHEMATICS AND COMPUTERS IN SIMULATION | 1998年 / 45卷 / 3-4期
关键词：
D O I：
10.1016/S0378-4754(97)00115-8
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
We consider the control circuit for n-link robot-manipulator constructed on proportional-differential regulator. We find out the values of control parameters and the restrictions on the noises that ensure the transition of the loaded claw into the theta-neighbourhood of the equilibrium state in time T with given reliability delta>0. Here theta, T are given sufficiently small numbers defined by technical peculiarity of robot itself and machinery served by it. The simulations of the motion of robot hand for two-link robot-manipulators are presented. (C) 1998 IMACS/Elsevier Science B.V.
引用
收藏
页码：359 / 364
页数：6
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