个人信息Personal Information
教授
博士生导师
硕士生导师
性别:女
毕业院校:大连理工大学
学位:博士
所在单位:电气工程学院
学科:电力电子与电力传动
办公地点:电气工程学院407室
联系方式:sxianjun@dlut.edu.cn
电子邮箱:sxianjun@dlut.edu.cn
Coordinated Motion Strategy for Multi-manipulators System Based on Joint Space Synchronized Cross-Coupled Control
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论文类型:会议论文
发表时间:2015-08-24
收录刊物:EI、CPCI-S、Scopus
卷号:9245
页面范围:396-407
关键字:Cross-coupled control; Synchronization error; Coordinated control; Load compensation
摘要:This work presents a synchronized cross-coupled control strategy for the coordination of multi-manipulators system. In the paper, the model-free synchronization error definition manner for different manipulators is introduced in detail. In addition, the joint actuator load of the system is translated and compensated to further improve the synchronization performance of the system. Taking a typical mirror milling system as the research object, the system model and control model are established, the simulation result shows that the proposed strategy can effectively improve the coordination for multi-manipulators system.