不知道物体物理参数的多机械臂协调学习与自适应控制

T. Naniwa, S. Arimoto, K. Wada
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引用次数: 5

摘要

针对目标物体的惯性矩和质心位置等物理参数未知的情况,提出了学习控制和基于模型的自适应控制方案。所提出的方案是建立在多机器人协调运动方程的基础上的,该方程由机器人的关节角坐标导出,并包含目标物体的动力学特性。由于该方程没有明确地包含物体质心的位置,因此所提出的方案可以在不使用机械手和物体的物理参数的情况下实现给定关节角轨迹和给定“内力”轨迹的精确跟踪。对两个三自由度机械臂各持一个物体的模型进行了数值仿真,结果表明了所提方案的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Learning and adaptive controls for coordination of multiple manipulators without knowing physical parameters of an object
Learning control and model-based adaptive control schemes are proposed for coordinated control of multiple manipulators when physical parameters such as inertia moments and position of the mass center of a target object are unknown. The proposed schemes are constructed on the equation of motion of the coordinated multiple manipulators, which is derived in terms of joint angle coordinates of manipulators and includes the dynamics of the target object. Since this equation does not explicitly include the position of the mass center of the object, the proposed schemes can achieve exact tracking of given joint angle trajectories and given trajectories of "internal force" without using physical parameters of the manipulators and the object. The effectiveness of the proposed schemes is illustrated by the numerical simulation results on a model of two 3-DOF manipulators holding a single object.
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