Adaptive Robust Posture Control of Parallel Manipulator Driven by Pneumatic Muscles With Redundancy

Zhu X.; Tao G.; Yao B.; Cao J.

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Adaptive Robust Posture Control of Parallel Manipulator Driven by Pneumatic Muscles With Redundancy

机译：冗余度气动肌肉驱动并联机器人的自适应鲁棒姿态控制

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摘要

This paper presents an adaptive robust posture controller for a parallel manipulator driven by pneumatic muscles (PMDPM) with a redundant DOF. Rather severe parametric uncertainties and uncertain nonlinearities exist in the dynamics of the PMDPM. T

机译：本文提出了一种适用于由气动肌肉（PMDPM）驱动的带有冗余DOF的并联机械手的自适应鲁棒姿态控制器。 PMDPM的动力学中存在相当严重的参数不确定性和不确定性非线性。 Ť

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《IEEE / ASME Transactions on Mechatronics》 |2008年第4期|p.441-450|共10页
作者
Zhu X.; Tao G.; Yao B.; Cao J.;
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正文语种 eng
中图分类机械设计、计算与制图;无线电电子学、电信技术;
关键词
Adaptive robust control (ARC); parallel manipulator; pneumatic muscle; redundancy; uncertainties;

机译：自适应鲁棒控制（ARC）;并联机械手;气动肌肉;冗余;不确定性;

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专利

1. Integrated Direct/Indirect Adaptive Robust Posture Trajectory Tracking Control of a Parallel Manipulator Driven by Pneumatic Muscles [J] . Xiaocong Zhu, Guoliang Tao, Bin Yao, Control Systems Technology, IEEE Transactions on . 2009,第3期

机译：由气动肌肉驱动的并联机械手的集成直接/间接自适应鲁棒姿态轨迹跟踪控制
2. Adaptive robust posture control of a parallel manipulator driven by pneumatic muscles [J] . Xiaocong Zhu, Guoliang Tao, Bin Yao, Automatica . 2008,第9期

机译：气动肌肉驱动的并联机械手的自适应鲁棒姿态控制
3. Pressure observer based adaptive robust trajectory tracking control of a parallel manipulator driven by pneumatic muscles [J] . ZHU Xiao-cong, TAG Guo-liang, CAO Jian Journal of Zhejiang University. Science, A . 2007,第12期

机译：基于压力观测器的气动机械臂并联机器人的自适应鲁棒轨迹跟踪控制
4. Adaptive Robust Posture Control of a Pneumatic Muscles Driven Parallel Manipulator with Redundancy [C] . Tao, Guoliang, Zhu, . 2007

机译：具有冗余度的气动肌肉驱动并联机械手的自适应鲁棒姿态控制
5. Redundancy resolution of cable-driven parallel manipulators. [D] . Agahi, Maryam. 2012

机译：电缆驱动的并联机械手的冗余分辨率。
6. Disturbance-Estimated Adaptive Backstepping Sliding Mode Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot [O] . Qingsong Ai, Chengxiang Zhu, Jie Zuo, 2018

机译：气动肌肉驱动踝关节康复机器人的干扰估计自适应反演滑模控制
7. Integrated Direct/Indirect Adaptive Robust Posture Trajectory Tracking Control of a Parallel Manipulator Driven by Pneumatic Muscles [O] . Xiaocong Zhu, Guoliang Tao, Bin Yao, 2009

机译：气动肌肉驱动并联机械手的集成直接/间接自适应鲁棒姿态轨迹跟踪控制

Adaptive Robust Posture Control of Parallel Manipulator Driven by Pneumatic Muscles With Redundancy

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