论文标题
具有运动和动态不确定性的平行机器人的自适应运动控制
Adaptive motion control of parallel robots with kinematic and dynamic uncertainties
论文作者
论文摘要
在具有运动不确定性的机器人操纵器自适应控制机器人中，最具挑战性的问题之一是雅各布矩阵以回归形式的倒数。在控制平行机器人的情况下，这种要求是不可避免的，该机器人的动态方程直接写在任务空间中。在本文中，自适应控制器是为基于回归形式的Jacobian矩阵的表示而设计的，以确保渐近轨迹跟踪。主要思想是雅各布基质的决定因素和邻接，然后组织新的回归形式。在2-DOF R \下列{P} R和3-D-DOF冗余电缆驱动的机器人上进行的仿真和实验结果，验证了所提出的方法的有希望的性能。
One of the most challenging issues in adaptive control of robot manipulators with kinematic uncertainties is requirement of the inverse of Jacobian matrix in regressor form. This requirement is inevitable in the case of the control of parallel robots, whose dynamic equations are written directly in the task space. In this paper, an adaptive controller is designed for parallel robots based on representation of Jacobian matrix in regressor form, such that asymptotic trajectory tracking is ensured. The main idea is separation of determinant and adjugate of Jacobian matrix and then organize new regressor forms. Simulation and experimental results on a 2--DOF R\underline{P}R and 3--DOF redundant cable driven robot, verify promising performance of the proposed methods.
