【摘要】 本文提出了机器人步进型球关节点位时间最优控制和改进的加密双判别函数插补原理,并分别应用于PTP与CP控制中,通过原理探索、判据定义和编程运行,在实际试验中表明具有良好控制效果。更多还原

【Abstract】 This paper put forward principles of PTP’s Time-Optimal-Control ( TOC) and reconstructed cryptic-Double-Differentiate-Functional-interpolation (RCDDFI) for stepping Sphere-Joint -actuator (SJA). TOC and RCDDFI were used in SJA’s FTP and CP controling. Through theory exploring, criterion defining and progam running, we found thai they had a very good controling result in actual application.更多还原