机械臂的自动控制系统 课件.ppt

文档介绍：single‐linkflexiblerobotarmwangyuanArrangement:M1:BuildthissysteminSimulinkwithD/AandA/DconvertersM2:Designastate‐feedbackcontroller(anyformareOK)M3:Designaobserver(full‐orderorreduced‐order)M4:Designoutput‐feedbackcontrollerdirectly()Group4:single‐linkflexiblerobotarm(m2l2)(m1l1):1)Positionequationofmanipulatoroperationend:JacobianMatrix:Statetransformation:2)Thedynamicsequationofmechanicalarm::Thetotaldrivingmomentvector:TheangleofrotationvectorM(θ):CoriolisCentrifugaltorqueInertiaG(θ):ThegravityvectorM(θ):InertiamatrixThemathematicalexpression:Simultaneous:(1)(2)(3)ThemathematicalexpressionandThequantitativevalue:(7)3)Definedstatevariables:]^THypothesisandtheassumptionthatthevariables:Theformofstatetransformationmatrix: