一种多机械手(指)自适应协调控制的递推算法

A RECURSIVE ALGORITHM FOR ADAPTIVE CONTROL OF COORDINATED MULTIPLE MANIPULATORS/FINGERS

提出了一种多机械手（指）的自适应协调控制递推算法．原系统的控制问题转化为各子系统的控制问题．各子系统之间的动态关联在Ｌｙａｐｕｎｏｖ意义下表示为在各分解点处的“虚功率流”．机械手指的点接触问题处理成被动关节的控制问题．原系统的渐近稳定性在Ｌｙａｐｕｎｏｖ意义上得到保证．计算机数字仿真验证了理论结果．

This paper presents a recursive algorithm for adaptive control of coordinated multiple manipulators/fingers.The control problem of the complete system is converted into the control problem of each subsystem.In the sense of Lyapunov,the dynamic interactions between the subsystems are completely represented as virtual power flows(VPFs) at their cutting points.Finger tip is considered as a passive joint.Lyapunov asymptotic stability of the complete system is guaranteed.Computer simulation is conducted to verify the validity of the proposed approach.