A distributed control strategy is used and a high robust auto-disturbance-rejection-controller (ADRC) is designed in joint space of robot to implement the high-precision trajectory tracking of 6-PRRS parallel robot.

 
  • 摘要針對6-PRRS并聯(lián)機器人控制系統的非線(xiàn)性、耦合等特性,采用分散控制策略,在關(guān)節空間設計強魯棒性的自抗擾控制器對其進(jìn)行控制。
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