• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>IEEE transactions on industrial informatics >A Passivity-Based Approach for Kinematic Control of Manipulators With Constraints
【24h】

A Passivity-Based Approach for Kinematic Control of Manipulators With Constraints

机译：一种基于控制的机械手运动控制方法

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

Most traditional methods for solving the kinematic control problem of redundant manipulators are designed from a signal processing perspective. However, such a perspective may make the resultant design difficult for practitioners to understand. If the problem is addressed from an energy perspective, the resultant design may be more comprehensive, because energy is a universal concept and can be used to describe complex large-scale industrial systems. Passivity is a property of engineering systems, which is characterized through energy transformation. In this paper, a passivity-based approach is proposed for the kinematic control of redundant manipulators, where the joint velocity limit of manipulators is also considered. The performance of the approach is theoretically guaranteed. In addition, simulative examples are presented to validate the efficacy of the approach and the theoretical results.
机译：求解冗余操纵器的运动控制问题的最传统方法是从信号处理视角设计的。然而，这种观点可以使所得的设计难以理解的难以理解。如果问题来自能量角度来解决，所得到的设计可能更全面，因为能量是通用概念，可用于描述复杂的大型工业系统。被动是工程系统的属性，其特征是通过能量转换的特征。本文提出了一种基于主的方法，用于冗余操纵器的运动控制，其中还考虑了操纵器的联合速度极限。理论上，该方法的性能是保证的。此外，提出了模拟的例子以验证方法的功效和理论结果。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号