离散控制Matlab代码-Trajectory-Tracking-Control-of-an-Octopus-Inspired-Continu

上传者: 38746738 | 上传时间: 2023-10-18 17:07:47 | 文件大小: 50.05MB | 文件类型: ZIP
离散控制Matlab代码章鱼启发的连续体机器人的轨迹跟踪控制 该存储库包含与以下研究论文相关的Matlab代码: @article {lafmejani2020kinematic,title = {章鱼启发的超冗余机器人的运动学建模和轨迹跟踪控制},作者= {Lafmejani,Amir Salimi和Doroudchi,Azadeh和Farivarnejad,Hamed和He,Ximin和Aukes,Daniel和Peetet ,Matthew M和Marvi,Hamidreza和Fisher,Rebecca E和Berman,Spring},journal = {IEEE机器人与自动化快报},卷= {5},数字= {2},页= {3460--3467},年份= {2020},发布者= {IEEE}} 该项目旨在解决章鱼手臂启发的连续机器人的运动学建模和控制问题。 我们提出了一个离散的多段模型,其中每个段是一个6自由度Gough-Stewart并行平台。 我们的模型是新颖的,因为它可以重现章鱼手臂的所有一般运动,包括伸长,缩短,弯曲,尤其是扭曲(通常不包括在此类模型中),同时还能增强

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