| 冗余驱动并联机械手的混合位置/力自适应控制 |
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| 引用本文： | 沈辉,吴学忠,刘冠峰,李泽湘.冗余驱动并联机械手的混合位置/力自适应控制[J].自动化学报,2003,29(4):567-572. |
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| 作者姓名： | 沈辉 吴学忠 刘冠峰 李泽湘 |
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| 作者单位： | 1.国防科技大学机电工程与自动化学院,长沙; |
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| 基金项目： | NationalNeturalScienceFoundationofP .R .China(5 0 0 2 95 0 1) |
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| 摘 要： | 针对冗余驱动并联机构研究一种自适应的混合位置/力控制算法.基于并联机构中约束
子流形的几何性质,将冗余驱动并联机构的逆动力学自然投影到位形空间和约束力空间.基于投
影方程,提出一种统一的具有渐进稳定性的自适应混合位置/力控制算法.采用最小二范数准则
求解冗余解问题,实现了实际驱动关节力矩的优化.仿真结果验证了控制方法的有效性.
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| 关 键 词： | 冗余驱动 并联机器人 自适应控制 混合控制 |
| 收稿时间： | 2002-5-8 |
Hybrid Position/Force Adaptive Control of Redundantly Actuated Parallel Manipulators |
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| SHEN Hui,WU Xu-Zhong,LIU Guan-Feng,LI Ze-Xiang.Hybrid Position/Force Adaptive Control of Redundantly Actuated Parallel Manipulators[J].Acta Automatica Sinica,2003,29(4):567-572. |
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| Authors: | SHEN Hui WU Xu-Zhong LIU Guan-Feng LI Ze-Xiang |
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| Affiliation: | 1.College of Mechatronical Engineering&Automation,National University of Defense Technology,Changsha;2.Department of Electrical and Electronic Engineering,Hong Kong University of Science and Technology,Hongkong,P.R.China |
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| Abstract: | An adaptive hybrid position/force control approach for redundantly actuated parallel manipulators is presented. Based on the geometric properties of constraint submanifolds in parallel manipulators, the inverse dynamics of redundantly actuated parallel manipulators can be naturally projected to configuration subspace and constraint force subspace. Based on the projection equations, a unified and asymptotically stable adaptive hybrid position/force control algorithm is proposed. With the minimal two norm rule, the redundancy resolution problem is solved and the practical actuated forces are optimized. Simulation results are given to demonstrate the effectiveness of the proposed approach. |
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| Keywords: | Redundant actuation parallel robots adaptive control hybrid control |
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