带顺应性关节的五杆并联机器人的数据驱动控制

Angel Ramírez-Martínez, J. E. Chong-Quero, Héctor Cervantes-Culebro, C. Cruz-Villar
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摘要

本文介绍了一种针对具有顺应性关节的五杆机器人的数据驱动控制方法。该机器人由并联机构和顺应元件组成,这些顺应元件会给建模和控制带来不确定性。为解决这一问题,我们采用了基于前馈神经网络模块(FNNM)的无模型数据驱动控制器,该模块可识别机器人的反动态。前馈神经网络模块被纳入前馈控制协调方法(CFCM),以实现精确的轨迹跟踪。实验将顺应关节机器人与轴承关节机器人进行了比较,后者在 0.15 至 3.15 Hz 的频率范围内执行拾放任务。结果表明,顺应型机器人的轨迹跟踪频率高达 1.25 Hz,均方根误差 (RMSE) 为 9.02 mm。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Data-driven control of a five-bar parallel robot with compliant joints
This paper presents a data-driven control approach for a five-bar robot with compliant joints. The robot consists of a parallel mechanism with compliant elements that introduce uncertainties in modeling and control. To address this fact, it is implemented a model-less data-driven controller based on a Feedforward Neural Network Module (FNNM) that identifies the inverse dynamics of the robot. The FNNM is incorporated into a coordination of Feedforward Control Method (CFCM) to achieve precise trajectory tracking. Experiments compare the compliant joints robot to a bearing-joint robot performing pick-and-place tasks from 0.15 to 3.15 Hz. Results show the compliant robot maintaining trajectory tracking up to 1.25 Hz with a Root Mean Square Error (RMSE) of 9.02 mm.
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