| 适于多自由度自适应机械人的可自现冗余的控制结构 |
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| 引用本文： | 陈久川,田东兴.适于多自由度自适应机械人的可自现冗余的控制结构[J].华北航天工业学院学报,2013(5):18-20,23. |
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| 作者姓名： | 陈久川 田东兴 |
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| 作者单位： | [1]北华航天工业学院材料工程系,河北廊坊065000 [2]北华航天工业学院科技处,河北廊坊065000 |
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| 基金项目： | 基金项目：河北省教育厅科研基金（2007403）;廊坊市科技局项目（2011011031） |
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| 摘 要： | 多自由度机器人在未知或动态环境中的动作控制一般都采取混联方案。这种方案由数个自适应控制器构成，而发现这些服务于子任务的子控制器是否存在冗余是非常重要的。本文提出一种能够自动地发现自身冗余的子自适应控制器，并给出了初步的仿真结果，以证明该方案的有效性。
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| 关 键 词： | 多自由度机器人 自适应控制器 冗余 |
A Control Architecture to Self-Detect Redundancy for Adaptive Multi-DOF Robots |
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| CHEN Jiu-chuan,TIAN Dong-xing.A Control Architecture to Self-Detect Redundancy for Adaptive Multi-DOF Robots[J].Journal of North China Institute of Astronautic Engineering,2013(5):18-20,23. |
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| Authors: | CHEN Jiu-chuan TIAN Dong-xing |
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| Institution: | 1. Material Engineering Department, North China Institute of Aerospace Engineering Langfang 065000, China; 2. Administration Office, North China Institute of Aerospace Engineering Langfang 065000, China) |
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| Abstract: | A hybrid architecture is adopted for effective movement control of multi-DOF robot in unknown dynamic environment or action. For such a controller,it is important to detect whether the redundancy for sub controller of subtasks is presented. This article pro-poses an adaptive controller which can detect redundancy automatically. A preliminary simulation result proves the effectiveness of the proposed method. |
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| Keywords: | multi-DOF robot adaptive controller redundancy |
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