Gough-Stewart平台的空间阻抗控制

Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI:10.1109/ROBOT.1998.677419

E. Fasse, C. Gosselin

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引用次数: 13

摘要

看看所谓的Gough-Stewart类并联平台的机械阻抗控制。提出了两种柔性控制方法。一种是基于全局势能函数，该函数先前已应用于控制串联机械臂和电动力悬浮平台。第二种方法使用指数映射将平台的有限位移从平衡状态与螺杆位移联系起来。然后，顺从的扳手与螺钉位移成正比。空间阻尼的控制也得到了解决，证明了阻抗控制的分类是正确的。给出了控制算法和仿真结果。

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On the spatial impedance control of Gough-Stewart platforms

Looks at the control of mechanical impedance of the so-called Gough-Stewart class of parallel platforms. Two methods of compliance control are presented. One is based on global potential energy functions that have previously been applied to controlling serial manipulators and electrodynamically levitated platforms. The second uses the exponential map to associate finite displacements of the platform from equilibrium with screw displacements. Compliant wrenches are then proportional to the screw displacements. Control of spatial damping is addressed as well, justifying the classification as impedance control. Control algorithms and simulation results are given.

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Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)

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