Hybrid Position/Force Adaptive Control of Redundantly Actuated Parallel Manipulators
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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.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 effective ness of the proposed approach.
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Key words:
- Redundant actuation /
- parallel robots /
- adaptive control /
- hybrid control
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