Robust adaptive motion/force control for motion synchronization of multiple uncertain two-link manipulators

被引：24
|
作者：
Dou, Haibin [1 ]
Wang, Shaoping [1 ,2 ]
机构：
[1] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China
[2] Sci & Technol Aircraft Control Lab, Beijing 100191, Peoples R China
来源：
MECHANISM AND MACHINE THEORY | 2013年 / 67卷
关键词：
Motion synchronization; Coupling dynamic; Motion/force control; Adaptive control; PLANAR PARALLEL MANIPULATOR; MOBILE MANIPULATORS; POSITION SYNCHRONIZATION; TRACKING CONTROL; SYSTEMS;
D O I：
10.1016/j.mechmachtheory.2013.03.008
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
High-performance robust adaptive synchronization motion control for multiple two-link manipulators with parametric uncertainties and uncertain nonlinearities is considered. The proposed control approach considers synchronization motion as constraint motion. The Lagrange multiplier method is used to derive the coupling dynamic characteristics caused by synchronization constraint conditions. In order to track desired trajectories while maintaining the synchronization motion, a motion/force control strategy is developed. Motion control is used to track desired trajectories for independent joints. Force control is used to realize the synchronization motion by guaranteeing the constraint force to be zero. In order to improve the performance of force control, a first-order low-pass filter is introduced. Simulation results demonstrate that the proposed method can effectively improve the performance of synchronization motion and tracking performance compared with other methods. (C) 2013 Elsevier Ltd. All rights reserved.
引用
收藏
页码：77 / 93
页数：17
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