Iterative Generation of Virtual Reference for a Manipulator
Iterative Generation of Virtual Reference for a Manipulator
复制标题
机械臂虚拟参考的迭代生成
DOI：
10.1017/s0263574700015587
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发表时间：
1991
期刊：
影响因子：
2.7
通讯作者：
K. Furuta
中科院分区：
文献类型：
--
作者：
M. Yamakita;K. Furuta
虚拟参考被定义为闭环系统的信号，以便响应完美地跟踪期望的路径。提出了获得适合于机械手使用重复操作来跟踪预定轨迹的虚拟参考信号。因此，该算法确保了期望的和机械手的轨迹之间的差异将变得可以忽略不计的操作的数量接近无穷大，如果适当的局部反馈补偿的机械手。该算法使用对偶系统递归地改进参考信号。这种系统具有设计简单的优点。该算法的推导是基于泛函分析。两个实验结果证实了该方法的有效性。
SUMMARY Virtual reference is defined as the signal for a closed-loop System so that the response tracks the desired path perfectly. It is proposed to obtain a virtual reference signal suitable for a manipulator to track a predetermined trajectory using repetitive operations. Thus the algorithm ensures that the difference between the desired and the manipulator trajectories will become negligible as the number of operations approaches infinity if the manipulator is compensated for properly by local feedback. This algorithm uses a dual System to recursively improve the reference signal. Such a System has the advantage of being simple to design. The derivation of this algorithm is based on functional analysis. The effectiveness is confirmed by two experimental results.