3リンクDDマニピュレータのディジタル非線形予見制御
1994 年 30 巻 4 号 p. 473-475
詳細
1994 年 30 巻 4 号 p. 473-475
Digital nonlinear preview control design method is proposed. This method is based on the principle that only acceleration changes at the moment when input torque changes. Linear optimal preview control system is designed on basis of this principle. It is applied to 3-link direct drive manipulator and its effectiveness is confirmed.
