Coordinated Adaptive Impedance Control of Redundantly Actuated Parallel Manipulators

IF 3.5 3区计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE

IEEE Transactions on Human-Machine Systems Pub Date : 2025-04-18 DOI:10.1109/THMS.2025.3550919

Nan Ma;David Cheneler;Guangping He;Junjie Yuan;Gui-Bin Bian

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Abstract

Redundantly actuated parallel mechanisms (RAPMs) have been widely adopted in advanced robotic systems and precision machine tools. It has been demonstrated that redundant actuation can improve the performance of mechatronic systems but introduce challenges with respect to control. One main difficulty is in establishing an accurate dynamic model of the RAPM system. With an inaccurate dynamic model, the torque applied by the actuators will be incorrect, leading to increased antagonistic forces in the system. To solve this problem, a novel coordinated adaptive impedance control approach based on a new adaptive impedance control law is presented here, along with proof of the stability of the closed-loop system. The control algorithm has been validated experimentally by a prototype cable-driven parallel manipulator. It can be seen from the experimental results that the proposed control method is an effective way to correct the antagonistic forces of the system, thus facilitating the improvement of its dynamic performance and its efficacy in different applications.

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冗余驱动并联机器人的协调自适应阻抗控制

冗余驱动并联机构已广泛应用于先进的机器人系统和精密机床中。研究表明，冗余驱动可以提高机电系统的性能，但也会带来控制方面的挑战。一个主要的困难是建立一个准确的RAPM系统的动态模型。如果动力学模型不准确，则执行器施加的扭矩将不正确，从而导致系统中的对抗力增加。为了解决这一问题，本文提出了一种新的基于自适应阻抗控制律的协调自适应阻抗控制方法，并证明了闭环系统的稳定性。通过缆索驱动并联机器人样机的实验验证了该控制算法的有效性。从实验结果可以看出，所提出的控制方法是一种有效的方法来纠正系统的拮抗力，从而促进了其动态性能的提高和在不同应用中的有效性。

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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来源期刊

IEEE Transactions on Human-Machine Systems COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE-COMPUTER SCIENCE, CYBERNETICS

CiteScore

7.10

自引率

11.10%

发文量

136

期刊介绍： The scope of the IEEE Transactions on Human-Machine Systems includes the fields of human machine systems. It covers human systems and human organizational interactions including cognitive ergonomics, system test and evaluation, and human information processing concerns in systems and organizations.