具有不确定运动学和作动器模型的机器人任务空间自适应设定点控制

Chao Liu, C. Cheah
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引用次数: 33

摘要

针对具有运动学、作动器和动力学不确定性的机器人,提出了一种新的任务空间设定点控制方案。提出并求解了存在这些不确定性时机器人的稳定性问题。给出了选择反馈增益和近似模型的充分条件,保证了任务空间位置误差的收敛性。最后给出了基于三连杆机器人的仿真结果,验证了该方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Task-space adaptive setpoint control for robots with uncertain kinematics and actuator model
In this paper, we proposed a new task-space setpoint control scheme for robots with uncertainties in kinematics, actuators and dynamics. The stability problem of the robot in the presence of these uncertainties is formulated and solved. Sufficient conditions for choosing the feedback gains and approximate models are given to guarantee the convergence of the task-space position error. Simulation results based on a 3-link robot are presented to illustrate the performance of the proposed scheme.
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