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本文研究了用卡尔曼滤波器及自适应控制器来控制机械手各关节的位置。机械手的动力学模型用一组具有时变参数的差分方程式描述。提出这一模型的假设是各关节独立的进行控制。模型的参数由卡尔曼滤波器在线估计。可设计的自适应控制器使机械手的各关节(转角)跟踪子期的轨迹。参数估计器及自适应控制器的算法在计算机上做了仿真。仿真结果表明这一控制方法是可行的。目前正在斯坦福(STANFORD)机械手实施这一控制方案。
This paper studies the use of Kalman filter and adaptive controller to control the mechanical joint position. The dynamics model of a manipulator is described by a set of difference equations with time-varying parameters. The hypothesis of this model is that the joints are independently controlled. The parameters of the model are estimated online by Kalman filter. The adaptive controller can be designed so that each joint (corner) of the robot tracks the trajectory of the sub-period. The algorithm of parameter estimator and adaptive controller is simulated on the computer. Simulation results show that this control method is feasible. This control is being implemented by STANFORD robots.