Adaptive control of parallel robots with uncertain kinematics and dynamics

被引：33

作者：

Harandi, M. Reza J. ^{[1
]}

Khalilpour, S. A. ^{[1
]}

Taghirad, Hamid D. ^{[1
]}

Romero, Jose Guadalupe ^{[2
]}

机构：

[1] KN Toosi Univ Technol, Fac Elect Engn, Adv Robot & Automated Syst ARAS, Tehran, Iran

[2] ITAM, Dept Acad Sistemas Digit, Rio Hondo 1, Mexico City 01080, DF, Mexico

来源：

MECHANICAL SYSTEMS AND SIGNAL PROCESSING | 2021年 / 157卷

基金：

美国国家科学基金会;

关键词：

Parallel robot; Kinematic and dynamic uncertainty; Trajectory tracking; Adaptive control; Jacobian matrix; Regressor form; MOTION CONTROL; MANIPULATORS; CALIBRATION;

D O I：

10.1016/j.ymssp.2021.107693

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

One of the most challenging issues in adaptive control of robot manipulators with kinematic uncertainties is the requirement of inverse Jacobian matrix in regressor form. This requirement is inevitable in the case of the control of parallel robots, whose dynamics formulation are derived in the task space. In this paper, an adaptive controller is proposed for parallel robots based on representation of Jacobian matrix in regressor form with asymptotic trajectory tracking. The main idea of this paper is separation of determinant and adjugate of Jacobian matrix in order to represent them into a new regressor forms. Simulation and experimental results on a 2-DOF RPR and a 3-DOF redundant cable driven robot, respectively, verify promising performance of the proposed method in practice. (c) 2021 Elsevier Ltd. All rights reserved. One of the most challenging issues in adaptive control of robot manipulators with kinematic uncertainties is the requirement of inverse Jacobian matrix in regressor form. This requirement is inevitable in the case of the control of parallel robots, whose dynamics formulation are derived in the task space. In this paper, an adaptive controller is proposed for parallel robots based on representation of Jacobian matrix in regressor form with asymptotic trajectory tracking. The main idea of this paper is separation of determinant and adjugate of Jacobian matrix in order to represent them into a new regressor forms. Simulation and experimental results on a 2-DOF RPR and a 3-DOF redundant cable driven robot, respectively, verify promising performance of the proposed method in practice.

引用

页数：13

共 29 条

[1] Optimum kinematic design of a planar cable-driven parallel robot with wrench-closure gait trajectory [J].