| 平面并联机构的动力学建模及自适应控制 |
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| 引用本文： | 敖银辉,陈新.平面并联机构的动力学建模及自适应控制[J].上海大学学报(英文版),2004,8(Z1). |
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| 作者姓名： | 敖银辉 陈新 |
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| 摘 要： |
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Modeling and Adaptive Control of a Planar Parallel Mechanism |
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| Abstract: | Dynamic model and control strategy of parallel mechanism have always been a problem in robotics research. In this paper, different dynamics formulation methods are discussed first. A model of redundant driven parallel mechanism with a planar parallel manipulator is then constructed as an example. A nonlinear adaptive control method is introduced. Matrix pseudo-inversion is used to get a desired actuator torque from a desired end-effector coordinate while the feedback torque is directly calculated in the actuator space. This treatment avoids forward kinematics computation that is very difficult in a parallel mechanism. Experiments with PID together with the descibed adaptive control strategy were carried out for a planar parallel mechanism. The results show that the proposed adaptive controller outperforms conventional PID methods in tracking desired input at a high speed. |
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| Keywords: | parallel mechanism dynamic model adaptive control |
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