| 机器人系统跟踪控制的一种新策略 |
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| 引用本文： | 高为炳.机器人系统跟踪控制的一种新策略[J].航空学报,1990,11(7):360-368. |
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| 作者姓名： | 高为炳 |
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| 作者单位： | 北京航空航天大学 |
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| 摘 要： | 本文研究了多个机器人完成某物体的跟踪问题。提出了一种“主辅型”控制策略。这种控制策略具有自组织性质,它自动地解决了机器人系统控制的不唯一性、自相矛盾的可能性,保证了各机器人间的合作与谐调。仿真结果表明跟gr误差极小。
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| 关 键 词： | 机器人系统 跟踪任务 受限控制 主辅型控制策略 |
A NEW CONTROL STRATEGY FOR TRACKING TASK BY ROBOTIC SYSTEMS |
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| Beijing University of Aeronautics and AstronauticsGao Weibing.A NEW CONTROL STRATEGY FOR TRACKING TASK BY ROBOTIC SYSTEMS[J].Acta Aeronautica et Astronautica Sinica,1990,11(7):360-368. |
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| Authors: | Beijing University of Aeronautics and AstronauticsGao Weibing |
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| Institution: | Beijing University of Aeronautics and AstronauticsGao Weibing |
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| Abstract: | In order to realize the tracking task of heavy or spacious bodies, robotic system are often needed due to the limitation of control torque of a single robot. When a body is grasped by the end-effectors of several robots, the determination of force/torque of each robot is not unique. Furthermore, conflict phenomenon among robots may occur and in consequence may cause instability of the system In this paper, a new "Master-helper"control strategy is suggested to remedy these problems. Simulation of a two-robot system verifies the effectiveness of the proposed method. |
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| Keywords: | robotic system tracking task constrained control ma-ster-helper control strategy |
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