| 摘要 |
<p>450-83-0080 : DYNAMIC CONTROL FOR MANIPULATOR A dynamic control for a multi-link manipulator having a central processing unit, a linear dynamics control loop and a fast nonlinear dynamics control loop. The linear dynamics control loop has servo amplifiers and associated power amplifiers for actuating the links in response to the signals generated by the central processing unit and sensors generating the requisite feedback signals. The nonlinear dynamics control loop comprises a nonlinear dynamics control computer generating correction signals corresponding to the nonlinear dynamics of the manipulator links in response to the signals generated by the central processing unit and feedback signal and means for summing the correction signals with the signals generated by the servo amplifiers. The nonlinear dynamics control computer generates the correction signals for the first three links of the manipulator using Lagrangian dynamics and generates the correction signals for the remaining links using recursive Newton-Euler dynamics.</p> |
