盛贤君

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

扫描关注

论文成果

当前位置: 中文主页 >> 科学研究 >> 论文成果

Coordinated Motion Strategy for Multi-manipulators System Based on Joint Space Synchronized Cross-Coupled Control

点击次数:

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.