【摘要】 本文提出了一种面向任务空间的机器人变结构控制算法,该算法不需要从任务空间到关节空间的坐标变换,直接利用任务坐标计算控制力矩。变结构控制的主要思想在于将复杂的切换条件问题离线进行,从而庞复的动力学实时控制的计算问题可以迎刃而解。更多还原

【Abstract】 This paper proposes a variable structure control scheme for robot tracking control in the operational space. The control algorithm of the proposed scheme does not require the conventional coordinate transformation from the Cartesian space to the joint space as the joint torques are computed directly upon the desired trajectories specified in the operational space so that it is time efficient and not prone to the singularity problem. The fundamental idea of this paper is to find a simple swithing law that can be predetermined according to the bounds of the parameter uncertainties off-line, and execute the law on-line to achieve a real time variable structure control.更多还原