摘要
提出了一种冗余驱动的具有两个转动自由度的新型空间并联机器人,以提高系统的稳定性,满足某水下运动模拟装置的要求。在对系统进行动力学分析并考虑消除内力的基础上,针对液压驱动并联机器人平台参数不确定及外界干扰的特点,设计了两层滑模的变结构控制器,采用Lyapunov方法进行控制律的选取。仿真试验表明了变结构控制算法对于系统控制的有效性和鲁棒性。
A 2-DOF parallel manipulator with redundant actuation was proposed to make the parallel structure more stable and meet the requirements of an underwater-simulated device. Based on the dynamic model and considering the distribution of the force on the actuated joints, a variable structure controller with two-folded sliding modes was designed for the manipulator, which was droved by hydraulic cylinders with uncertain parameters and disturbance. The control law was chosen based on Lvapunov stability theory. The effectiveness and robust of the ProPosed control are demonstrated bv simulations.
出处
《系统仿真学报》
EI
CAS
CSCD
北大核心
2006年第2期416-419,423,共5页
Journal of System Simulation
关键词
并联机器人
冗余驱动
变结构控制
仿真
parallel manipulator
redundant actuation
variable structure control
simulation
