机器人机械臂的鲁棒摩擦控制方案

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI:10.1109/ROBOT.2003.1242094

Jeng-Shi Chen, J. Juang

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引用次数: 8

摘要

本文研究了存在静摩擦、有界扰动和建模不确定性的机械臂跟踪问题。提出了一种复合跟踪控制策略，该策略采用自适应摩擦估计来估计摩擦程度，然后设计鲁棒控制器来提高整体稳定性和鲁棒性。通过对二自由度平面机器人机械臂的仿真，说明了鲁棒自适应摩擦控制的性能问题。

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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A robust friction control scheme of robot manipulators

In this paper, the tracking problem is considered for robot manipulators in the presence of static friction, bounded disturbance, and modeling uncertainties. A composite tracking control strategy is proposed in which an adaptive friction estimation is used to estimate the extent of friction and a robust controller is then designed to enhance the overall stability and robustness. Performance issues of robust adaptive friction control are illustrated in simulation made for a two degree of freedom planar robot manipulator.

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来源期刊

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)

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