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Abstract
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Flexible manipulator is a kind of dynamic system with high coupling and nonlinear, but compared with RP rigid manipulator, it has the advantages of light weight and low cost, which makes flexible manipulator more and more widely used. The research object of this paper is RP rigid manipulator and rigid-flexible coupling manipulator. PD controller based on model compensation and sliding mode controller based on computational torque method are designed for rigid manipulator after mod
基于Lyapunov的RP型机器人操作臂控制系统设计-9793字.docx