第9章机器人线性控制.pptVIP

线性控制仅适用于能够用线性微分方程进行数学建模的系统. We will model a manipulator as a mechanism that is instrumented with sensors at each joint to measure the joint angle and has an actuator at each joint to apply a torque on the neighboring link. Sometimes velocity sensors (tachometers) are also present at the joints. We wish to cause the manipulator joints to follow prescribed position trajectories, but the actuators are commanded in terms of torque, so we must use some kind of control system to compute appropriate actuator commands that will realize thi