并联机器人在任务空间的非线性自适应控制

Nonlinear adaptive control scheme for parallel robot in task space

针对并联机器人系统本身的结构特点,在任务空间提出了一种非线性自适应控制方案.与已有的自适应控制方案相比,由于充分考虑了惯性矩阵中参数的特点,在设计中不再采取模型的不确定参数线性化的变换,控制律及自适应律的设计也因被估参数的减少变得较为简单.运用Lyapunov方法分析了系统稳定性并给出了系统稳定性条件.该方法能够保证系统的终端位置及速度的全局渐近稳定.最后,仿真结果验证了该方法的有效性.

A new nonlinear adaptive control approach is proposed for a kind of parallel robot. In comparison with the existingadaptive control schemes, the parameterization expression of the model parameters is not needed in the proposedapproach according to the properties of the parameters in the inertia matrix, and the adaptive control is simplerbecause of the reduce of estimated parameters. The stabilized conditions and corresponding proof are alsopresented, and the globally asymptotical stability of the end-effector position is guaranteed. Simulation results aredemonstrated in support of the proposed control scheme.