工业机器人的学习控制

加速度传感器装在机械手手部,各关节的加速度由加速度分解算法得到.然后,提出了一种学习控制法,这种控制法利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.本文所提出的学习控制理论的有效性通过 PUMA-562 机器人的计算机仿真实验得到了证实.

A learning control method for an robot manipulator is introduced.The acceleration error is used to correctthe motion of the industrial manipulator motors.A theoretical method which estimates the convergence con-dition of the learning control process based on the limit condition of a geometric series is proposed.The valid-ity of the proposed theory is proved through a computer simulation of PUMA-562 robot.