一种基于操作空间的操作器分散自适应控制方法

A DECENTRALIZED ADAPTIVE IMPEDANCE CONTROLLER FOR ROBOT MANIPULATORS IN TASK SPACE

本文提出了一种操作器分散自适应阻力控制方法．这种方法不要求知道操作器动态模型的结构和参数，采用分散控制的形式，可以对各自由度单独进行控制，因此计算简单有效，具有一定的容错能力，控制系统有较好的暂态性能，由于控制律以操作空间坐标形式描述，适合于具有冗余自由度的操作器的控制．

This paper develops a decentralized adaptive impedance control scheme for industrial robot working in task space. This controller does not require any knowledge of either structure or parameter values of robot dynamic model , it possesses a decentralized control structure and is computationally efficient, it have the properties of fault tolerance relative to centralized strategies and good robustness. The proposed control law is expressed in task space and is easy to apply to robot with degrees of redundancy. It is shown that the control strategy is globally uniformly bounded in the presence of bounded disturbances. Computation results are give for a PUMA 560 manipulators to demonstrate the good performance of the proposed scheme.