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Self-adaptive controller used for parallel robot

A technology of adaptive controllers and robots, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc.

Inactive Publication Date: 2014-03-05
TIANJIN POLYTECHNIC UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] The technical problem to be solved by the present invention is to design an adaptive controller for parallel robots to solve the control problem of parallel robots under the condition of inaccurate parameter estimation

Method used

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  • Self-adaptive controller used for parallel robot

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Embodiment Construction

[0012] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0013] The present invention takes two-degree-of-freedom redundant drive parallel robot as research object (such as figure 1 shown).

[0014] (1) Model description.

[0015] The structure of the parallel robot with redundant drives in the task space is as follows: figure 1 As shown, the robot is driven by three servo motors located at A1, A2, A3, q a1 ,q a2 ,q a3 are the active angles of the three active joints, q b1 ,q b2 ,q b3 are the driven angles of the three driven joints, respectively. This device contains three independent two-degree-of-freedom devices, each device has the following dynamic equations:

[0016] M i q . . i + C i q ...

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Abstract

The invention relates to a non-linear self-adaptive controller used for a two-freedom-degree planar parallel robot. A control Lyapunov method is used for achieving task space self-adaptive control of the parallel robot. Due to the fact that the characteristics of parameters in an inertial matrix are fully considered, changes of undetermined parameter linearity of a model are not adopted any more in the design, and designing of a control law and a self-adaptive law becomes simpler because part of the parameters do not need to be estimated. According to the method, global asymptotic stability of the terminal position and speed of a system can be guaranteed.

Description

technical field [0001] The invention belongs to the technical field of robot control and relates to a design method of an adaptive controller of a parallel robot. Background technique [0002] The parallel robot is a multi-closed-loop mechanism formed by connecting the end effector and the fixed system with multiple independent kinematic chains. It has a series of advantages such as high rigidity, strong bearing capacity, small error, high precision, small self-weight-to-load ratio, and good dynamic performance. It has become a potential high-speed and high-precision motion platform. However, due to the complexity of the dynamic model of the parallel robot and the existence of strong nonlinear coupling, the dynamic modeling, control strategy research and system simulation of the parallel robot are one of the most challenging fields in the research of parallel robots, and it is also a difficult point of research. one. [0003] The control of parallel robots can be divided i...

Claims

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Application Information

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IPC IPC(8): B25J19/00B25J9/00
Inventor 陈奕梅
Owner TIANJIN POLYTECHNIC UNIV
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