机器人关节跟踪带死区的变参数EW-RLS算法研究  

Variable parameter EW-RLS algorithm with dead zone for the traje ctory tracking of the joints of the manipulator

作　　者：薛云灿[1] 梅志千[2] 

机构地区：[1]河海大学计算机及信息工程学院,常州213022 [2]河海大学机电工程学院,常州213022

出　　处：《现代制造工程》2005年第S1期138-140,99,共4页Modern Manufacturing Engineering

摘　　要：提出一种带死区的变参数EW-RLS算法,提出误差级的概念,并给出基于鲁棒极小极大原理选择误差级的准则。在机器人关节上进行的实验验证了该改进算法的良好性能。利用该算法,用最优PID控制器进行机器人轨迹跟踪研究。A variable parameter RLS algorithm with dead zone is presented.The concept of the error level is proposed.Selection criteria of the error level are given according to the min-max principle.Good performance of the improved algorithm is verified by the experiments carried out on the robot.With it,an optimum PID controller is used for the trajectory tracking of the joints of the manipulator.Good tracking performance shows the effectiveness of the improved RLS algorithm.

关 键 词：参数估计 系统辨识 轨迹跟踪 极小极大估计 机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]