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利用PD控制机器人和反演模型

于 2022-02-09 发布 文件大小:15.23 kB
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在这个项目中我们想要控制一个机器人(3自由度)基于PD理论和逆模型。我们的期望是控制机械臂3θ角度后,参考价值(定义)参考信号将PD控制器的输入和输出的PD控制器(u)逆模型的输入。逆模型将与转矩计算转矩应用于机器人和我们可以计算的价值角度(θ1、2、3)。我相信,这个项目可以帮助学生获取有关机器人的控制更多的了解。让我们欣赏。

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