{"title":"基于PD计算转矩法的机械手控制系统仿真与研究","authors":"Aihui Wang, Wei Han, Fei Cai, Ningning Hu, Yali Zhao","doi":"10.1109/ICAMECHS.2018.8506925","DOIUrl":null,"url":null,"abstract":"Based on the PD control torque, the PD calculation moment method introduces nonlinear compensation to transform the manipulator, which is a multi-input, multi-output, nonlinear and strongly coupled system, into a decoupled linear time-invariant system, so as to achieve a good effect of controlling the manipulator. The feedback linearization theory in nonlinear control theory is used to prove the introduced feedback nonlinear compensation. In addition, the MATLAB software is used to analyze and research the control system, and good control effect is obtained.","PeriodicalId":325361,"journal":{"name":"2018 International Conference on Advanced Mechatronic Systems (ICAMechS)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Simulation and Research of A Manipulator Control System Based on PD Calculation Torque Method\",\"authors\":\"Aihui Wang, Wei Han, Fei Cai, Ningning Hu, Yali Zhao\",\"doi\":\"10.1109/ICAMECHS.2018.8506925\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Based on the PD control torque, the PD calculation moment method introduces nonlinear compensation to transform the manipulator, which is a multi-input, multi-output, nonlinear and strongly coupled system, into a decoupled linear time-invariant system, so as to achieve a good effect of controlling the manipulator. The feedback linearization theory in nonlinear control theory is used to prove the introduced feedback nonlinear compensation. In addition, the MATLAB software is used to analyze and research the control system, and good control effect is obtained.\",\"PeriodicalId\":325361,\"journal\":{\"name\":\"2018 International Conference on Advanced Mechatronic Systems (ICAMechS)\",\"volume\":\"32 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2018-08-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2018 International Conference on Advanced Mechatronic Systems (ICAMechS)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICAMECHS.2018.8506925\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 International Conference on Advanced Mechatronic Systems (ICAMechS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAMECHS.2018.8506925","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Simulation and Research of A Manipulator Control System Based on PD Calculation Torque Method
Based on the PD control torque, the PD calculation moment method introduces nonlinear compensation to transform the manipulator, which is a multi-input, multi-output, nonlinear and strongly coupled system, into a decoupled linear time-invariant system, so as to achieve a good effect of controlling the manipulator. The feedback linearization theory in nonlinear control theory is used to prove the introduced feedback nonlinear compensation. In addition, the MATLAB software is used to analyze and research the control system, and good control effect is obtained.
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