机器人预见控制方法的研究  

RESEARCH OF PREVIEW CONTROL METHOD ON ROBOT

作　　者：张晓梅[1] 王占林[1] 

机构地区：[1]北京航空航天大学自动控制系

出　　处：《北京航空航天大学学报》1996年第1期21-26,共6页Journal of Beijing University of Aeronautics and Astronautics

摘　　要：提出了一种机器人高精度路径控制的有效方法──以面积误差作为评价函数的预见控制方法．该方法从目标路径与实际路径之间的面积误差评价函数值最小化观点出发，运用逐次最优化原理来求取最优预见控制输入．它的特点是在每一采样时刻都要更新反馈系数和预见前馈系数，由于这些系数都是离线计算，因此并不影响实时控制速度．最后，通过实际机器人仿真．结果表明，该方法对于满足机器人高速度、高精度的要求是行之有效的．Based on performance index of trajectory error area,a valid method with high accuracy control-preview control is presented.The method applies the progressive optimization theory to derive preview control input based on minimalization of performance index of trajectory error area between desired and actual trajectory, the feature of preview control input is that feeback and preview feedforward coefficients are changed in every sampling time.Because these coefficients are calculated in off-line, on-line control velocity is not influenced.Finally,it is verified that the method above is valid for improving the performance of high accuracy and high speed control of robot by means of simulation.

关 键 词：机器人 预测 控制 前馈 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]