摘要
比较了空间二维驱动串并联直角坐标机器人系统的RLS算法辨识和KFE算法辨识,并对系统进行了参数估计,通过计算机绘图和运算给出两种不同算法下的辨识结果,可满足机器人特殊奇异位形时的需要和实现“模型引导控制”时的较好逼近。
In this paper, RLS algorithm and KFE algorithm identification discussed and carried out with a special two dimensional actuating serial-parallel manipulator system as the research object, parameter estimated for this special system through program and obvious figure of which obtained then, it can support better approximation system function for ＂model guided control＂ while the mechanism at singularity.
出处
《华北科技学院学报》
2006年第3期61-64,共4页
Journal of North China Institute of Science and Technology
关键词
机器人
算法
辨识
参数估计
逼近
Manipulator
Algorithm
Identification
Parameter Estimation
Approximation
作者简介
罗建国（1977-），男，湖南岳阳人，硕士，华北科技学院机电工程系讲师。
