CN113031450B - 智能机器人的前馈控制方法及装置、存储介质、电子装置 - Google Patents
智能机器人的前馈控制方法及装置、存储介质、电子装置 Download PDFInfo
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- CN113031450B CN113031450B CN202110537139.XA CN202110537139A CN113031450B CN 113031450 B CN113031450 B CN 113031450B CN 202110537139 A CN202110537139 A CN 202110537139A CN 113031450 B CN113031450 B CN 113031450B
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- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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CN1259773C (zh) * | 2004-01-18 | 2006-06-14 | 桂林星辰电力电子有限公司 | 交流伺服电机力矩扰动的补偿控制方法 |
CN103192898A (zh) * | 2013-04-09 | 2013-07-10 | 北京交通大学 | 一种具有首尾平衡调节装置的仿生四足机器人 |
CN104875813B (zh) * | 2015-05-26 | 2018-04-06 | 上海大学 | 一种电驱动小型仿生四足机器人 |
WO2018033591A2 (en) * | 2016-08-17 | 2018-02-22 | Ecole Polytechnique Federale De Lausanne (Epfl) | Apparatus comprising a support system for a user and its operation in a gravity-assist mode |
JP6950589B2 (ja) * | 2018-03-07 | 2021-10-13 | オムロン株式会社 | サーボ制御方法 |
CN108712131B (zh) * | 2018-06-25 | 2020-07-21 | 哈尔滨理工大学 | 一种基于比例积分系数调节的电流前馈控制方法及装置 |
CN109367644B (zh) * | 2018-11-06 | 2020-10-16 | 北京建筑大学 | 一种多模式步行机器人 |
CN109871018B (zh) * | 2019-02-25 | 2020-03-10 | 北京航空航天大学 | 一种具有腰部自由度四足机器人的控制方法 |
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