基于加速度传感器的机器人最优学习控制

为工业机器人提出了一种最优学习控制法。这种控制法用加速度误差校正驱动器运动。并提出了一种基于几何级数的极限条件估计学习控制过程收敛条件的理论方法。所提出学习控制法的有效性通过PUMA562机器人的计算机仿真结果得到了证实。

An optimal learning control method for a robot is introduced with acceleration error used to correct the motion of actuators. A theoretical consideration to estimate the convergence conditions in learning control process is proposed in accordance with the limit condition of a geometric series. The validity of the theory proposed is proved by a computer simulation for PUMA562 robot.

中国科学院机器人学开放研究实验室资助课题