An adaptive controller for a direct-drive SCARA robot: Analysis and simulation

L. Dessaint, M. Saad, B. Hébert, C. Gargour
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引用次数: 6

Abstract

A direct adaptive controller for trajectory tracking of high-speed robots such as a direct-drive SCARA robot is presented. In this robot, nonlinear effects due to centrifugal, Coriolis, and gravity forces are more important than friction forces. The control law of the adaptive scheme consists in a PD regulator and feedforward compensation of full dynamics. The feedforward terms are adjusted by an adaptation law so that the steady-state position errors are zero. The regulator gain matrix can be fixed or time-varying; in the latter case, the adaptive scheme becomes similar to the computed torque scheme. However, with the adaptive controller, joint accelerations measurement is not required and no inversion of the estimated mass matrix is involved. The tracking performances of the controller applied to a 4 d.o.f. SCARA robot are illustrated by a digital simulation.<>
直接驱动SCARA机器人的自适应控制器:分析与仿真
提出了一种用于高速机器人(如直接驱动SCARA机器人)轨迹跟踪的直接自适应控制器。在这个机器人中,由离心力、科里奥利力和重力引起的非线性效应比摩擦力更重要。自适应方案的控制律由PD调节器和全动态前馈补偿组成。采用自适应律调整前馈项,使系统的稳态位置误差为零。调节器增益矩阵可以是固定的,也可以是时变的;在后一种情况下,自适应方案变得与计算扭矩方案相似。然而,使用自适应控制器,不需要测量关节加速度,也不涉及估计质量矩阵的反演。通过数字仿真验证了该控制器在4自由度SCARA机器人上的跟踪性能
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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CiteScore
1.40
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