摘要
针对冗余并联机构变结构、工作空间较小和各关节存在强耦合性的特点,笔者提出一种冗余并联机器人同步控制方法。由于工作空间小,笔者方法将惯性矩阵和离心力矩阵取为定值用于前馈控制,使得末点位置不需要测量。同时为了抑制惯性力矩阵和离心力矩阵取为定值带来的模型误差,通过引入同步误差和耦合误差,不仅使关节误差减小而且提高了它们之间的同步性,并基于Lyapunov稳定性理论分析证明所提出控制算法的稳定性。最后,通过平面2自由度冗余并联实验台实验证明该控制方法是有效的。
Considering the special characteristics of the redundant parallel manipulator,with emphasis on the variable of structure,relatively small workspace and the strong coupling relationship among joints,a synchronization control strategy is presented in this paper.Since the inertial and the coriolis matrix are designed constant according to relatively small workspace,position measurement of the endeffector in plane is ignored.Furthmore,synchronization error and coupling error are introduced to restrain the model error of inertial and coriolis matrix as stated above.By using the method,the error of the driving joint can be reduced and the synchronization perfmance among axises is improved.The stability of the controllers is proved by Lyapunov method.Finally,experimental results show the feasibility.
出处
《机械科学与技术》
CSCD
北大核心
2011年第2期279-282,285,共5页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金项目(50775170
50805111)
中央高校基本科研业务费专项基金项目(JY10000904011
JY10000904006)资助
关键词
冗余并联机器人
耦合误差
同步控制
redundant parallel manipulator
coupling error
synchronization control
