%0 Journal Article
%T The Robust Tracking Control of Restrained Robot with Random Perturbation on the Base<br>动基座机器人的末端受限鲁棒跟踪控制
%A Wang Xinggui
%A Tan Dalong
%A Wu Zhenwei
%A Zhang Chunjie
%A <br>王兴贵
%A 谈大龙
%A 吴镇炜
%A 张春杰
%J 自动化学报
%D 1997
%I 
%X According to the dynamics of the restrained robot system with random perturbation on the base, a matching model of imaginary linear uncertain system is established in this paper. The method to design a robust stabilizing controller for the linear uncertain system is introduced, and a force robust tracking control method is developed for the restrained robot. The effectiveness of this method has been verified by experiment with the PUMA562 mounted on a omnidirectional vehicle.
%K Restrained robot
%K robust control
%K uncertain system
%K nonlinear system
%K robot dynamics<br>约束机器人
%K 鲁棒控制
%K 非线性系统
%K 机器人
%K 动力学
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=0A996DCD96E74735C0C336C4821189A7&yid=5370399DC954B911&vid=EA389574707BDED3&iid=E158A972A605785F&sid=500A64A3035F6B9C&eid=652E7E360EBE3082&journal_id=0254-4156&journal_name=自动化学报&referenced_num=1&reference_num=2