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首页> 外文会议>Mechatronics, 2009. ICM 2009 >Experimental study of a robust-adaptive controller design for two cooperating RLED robot manipulators carrying a rigid payload
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Experimental study of a robust-adaptive controller design for two cooperating RLED robot manipulators carrying a rigid payload

机译：两个带有刚性有效载荷的RLED机器人机械手的鲁棒自适应控制器设计的实验研究

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摘要

In this paper, a robust-adaptive controller is developed for trajectory tracking of two rigid-link electrically-driven (RLED) robot manipulators carrying a rigid object. First, the dynamic model of the cooperative robots is derived. This model is written in a combined form such that the forces exerted by the object on the manipulators are not explicitly appeared in the dynamic model. A robust-adaptive controller is then applied to the cooperative robotic system in the voltage input level in order to asymptotically stabilize the tracking error. The robust-adaptive controller has the advantage that it does not require an exact knowledge of the dynamical equation of the system as well as its parameters. Furthermore, the controller does not need the measurement of the forces and moments at the contact points. Finally, simulation and experimental results are provided to illustrate the performance of the control algorithm.
机译：在本文中，开发了一种鲁棒自适应控制器，用于跟踪两个带有刚性物体的刚性链接电驱动（RLED）机器人操纵器。首先，推导了协作机器人的动力学模型。该模型是以组合形式编写的，因此，对象在机械手上施加的力不会在动态模型中明确显示。然后将鲁棒自适应控制器以电压输入水平应用于协作机器人系统，以渐近稳定跟踪误差。鲁棒自适应控制器的优点在于，它不需要系统动力学方程及其参数的确切知识。此外，控制器不需要测量接触点上的力和力矩。最后，通过仿真和实验结果说明了该控制算法的性能。

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