基于离散分散混合计算力矩模型的机械臂自适应控制器

Z. S. Tumeh
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引用次数: 10

摘要

采用分布式多处理器架构和PUMA 560机械臂,设计了一种分散的机械臂控制器并进行了测试。该控制器由基于计算转矩方法的标称分量和基于模型参考自适应控制方法的变分分量组成。该控制器分别应用于机械手的各个关节。分散机械臂控制的动机是,派生的算法可以使用分布式架构来实现,其中每个关节都分配一个微处理器,因此,关节的控制算法可以使用相对便宜的硬件并行执行。将关节间的非线性相互作用和耦合作为扰动力矩进行补偿。所开发的控制器的功能是驱动机械手沿着期望的轨迹运动。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A discrete decentralized hybrid computed torque-model referenced adaptive controller for robotic manipulators
A decentralized controller for robotic manipulators was designed and tested using a distributed multiprocessor architecture and a PUMA 560 robot arm. The controller is made up of a nominal component based on a computed torque approach and a variational component based on a model referenced adaptive control approach. The controller is applied to each manipulator joint separately. The motivation for decentralized manipulator control is that the derived algorithm can be implemented using a distributed architecture where each joint is assigned a microprocessor and, thus, the control algorithms for the joints can be executed in parallel using relatively inexpensive hardware. Nonlinear interaction and coupling between joints are treated as a disturbance torque that is compensated for. The function of the developed controller is to drive the manipulator along a desired trajectory.<>
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