机器人系统同步协调自适应控制

Adaptive Synchronized Control of Robot Manipulators

针对机器人定点调节将交叉耦合控制技术和自适应控制结合而提出了一种简单的同步控制策略。所设计的控制器能够在保证每单个执行机构运动稳定的同时还可以保证所有执行机构的运动同步,使位置误差和位置同步误差都收敛到零。基于Lyapunov稳定性理论分析证明了所提出的控制算法能够保证闭环系统的全局渐近稳定性。二自由度机器人的仿真结果验证了所提出的控制方法的有效性。

A simple adaptive synchronized approach to controls for the setpoint position control of robot manipulators was proposed, by incorporating cross-coupling technology into an adaptive-control architecture. The proposed controller could stabilize the motion of each actuator, and meanwhile synchronize all actuators＇ motions so that both position and synchronization errors converged to zero. It is proved that the proposed method can guarantee global asymptutical stability of the system. Simulations of a two-degrees-of -freedom robot show the validity of proposed controllers.