并联机器人的鲁棒控制

M. Rachedi, M. Bouri, B. Hemici
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引用次数: 8

摘要

这项工作提出了两种基于模型的并行机制控制方案的实现;采用混合灵敏度方法设计的H∞鲁棒控制和计算转矩控制(CTC)。仿真结果说明了三维并联机器人,即“德尔塔机器人”。比较了半椭圆拾取轨迹和抛物线位置轮廓下CTC和H∞控制器的性能。运动动力增加到12g加速度和1m/s的速度。为了进行鲁棒性测试,在Delta机器人的行走板上引入了附加载荷的参数扰动。在Delta机器人的SimMechanics模型上进行的仿真结果表明,与CTC控制器相比,H∞控制器具有更好的性能和鲁棒性。在控制方案中不引入系统的逆动态模型(IDM),大大减少了控制律的计算时间。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Robust control of a parallel robot
This work presents the implementation of two model based control schemes in parallel mechanisms; the H∞ robust control designed by the mixed sensitivity approach and the Computed Torque Control (CTC). Simulations results are illustrated for the 3DOF parallel robot namely the “Delta robot”. Performances of the CTC and the H∞ controllers are compared for a semi elliptic pick and place trajectory and with a parabolic position profile. The movement dynamic is increased up to the acceleration of 12 G and a velocity of 1m/s. For robustness tests, parametric disturbances are introduced by additional loads on the travelling plate of the Delta robot. The simulation results performed on a SimMechanics model of the Delta robot show that the H∞ controller presents better performances and robustness compared to the CTC controller. It is implemented in the control scheme without the incorporation of the inverse dynamic model (IDM) of the system which reduces significantly the computation time of the control law.
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