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本文给出了一种新的、结构简单的机器人数学模型。把文献[1]的结果扩展并应用于机器人的轨迹控制,并导出了一种新的机器人自校正控制算法。仿真结果证实了本文所提方法的可行性。
This paper presents a new, simple model of the robot mathematical model. The results of [1] are extended and applied to robot trajectory control, and a new robot self-tuning control algorithm is derived. Simulation results confirm the feasibility of the proposed method.