摘要
In this paper, coordinated control of multiple robot manipulators holding a rigid object is discussed. In consideration of inaccuracy of the dynamic model of a multiple manipulator system, the error equations on object position and internal force are derived. Then a hybrid position/force coordinated learning control scheme is presented and its convergence is proved. The scheme can improve the system performance by modifying the control input of the system after each iterative learning. Simulation results of two planar robot manipulators holding an object show the effectiveness of this control scheme.
研究了多机械手抓持一刚性物体的协调控制。考虑多机械手系统的动态模型不确定性,导出了物体位置的误差方程和内力的误差方程,给出了多机械手的混合位置/力协调学习控制策略,并对学习控制的收敛性进行了讨论。文中提出的控制策略在每次迭代学习后,通过修正系统的控制输入来改善系统的性能。最后。
