柔性关节机器人机械臂的非参数辨识与控制

2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2014-11-20 DOI:10.1109/MMAR.2014.6957355

J. Sasiadek, A. Green, S. Ulrich, A. Krzyżak

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引用次数: 1

摘要

讨论了柔性机器人末端执行器的非自适应和自适应跟踪控制策略，该控制策略在末端执行器和肘关节0.5m处分别附加了配置和非配置传感器。并联关节传感器满足超稳定条件，但无法捕获非并联传感器所能达到的非最小相位响应。传感器配置和非配置的非自适应控制导致跟踪效果差，而自适应控制无论传感器位置如何都能获得良好的跟踪效果。给出了柔性机器人的非参数辨识方法，并讨论了其收敛性。

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Nonparametric identification and control of flexible joint robot manipulator

We discuss nonadaptive and adaptive control strategies for tracking the end effector of a flexible robot with collocated and noncollocated sensors attached at the end effector and 0.5m from the elbow joint. Collocated joint sensors satisfy hyperstability conditions but are unable to capture nonminimum phase (NMP) response which is achieved by noncollocated sensors. Nonadaptive control with collocated and noncollocated sensors results in poor tracking, but adaptive control leads to excellent tracking regardless of sensor location. Nonparametric identification procedure for the flexible robot is also presented and its convergence is discussed.

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2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)

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