【摘要】 由于机械臂具有高耦台、强非线性的特点,采用以往的闭环控制方法难以在稳定性与精度上达到令人满意的结果.针对此问题.本文以平面三联杆机械臂的动力学模型作为控制基础,给出了机械臂非线性逆系统存在性的证明,在闭环控制基础上将非线性逆系统理论应用于机械臂的控制中,从而构成了具有高质量自动控制的复合控制.并对其在实时控制中所存在的缺点进行了相应改进.通过 PDP-11/23型机仿真实验证明了逆系统控制的有效性与可行性.更多还原

【Abstract】 Previous ways of the closed loop control are difficult to satisfy the demand in both stability and precision because a manipulator has strong couple and nonlinearity.To be aimed at it,based on the dynamic model of the manipulator consisted of plane three- links,this paper gives the proof of existance for inverse nonlinear system(INS)of the ma- nipulator.On the basis of the closed loop control,the theory of INS is applied to manipula- tor control so that the automatic compound control with high quality is formed,and some defects in real-time control are overcome.Simulation experiments demonstrate the effec- tiveness and feasibility of INS control.更多还原