摘要
本文研究了含有LuGre摩擦的并联机械臂自适应控制问题.首先,在并联机械臂动力学模型中引入LuGre摩擦模型来描述伺服关节内部的摩擦行为;其次,构造含有动态摩擦补偿的自适应控制算法,并使用Lyapunov方法证明控制算法的有效性;最后,通过平面3-RRR并联机械臂数值算例,验证所提出控制算法的效果以及LuGre摩擦补偿的必要性.
The adaptive control of parallel manipulators with LuGre friction compensation was investigated.Firstly,the LuGre friction model was introduced to the dynamic model of parallel manipulators in order to describe the friction behavior within the servo joints. Secondly,the adaptive control algorithm with dynamic friction compensation was constructed,and the availability of the control algorithm was provedby Lyapunov theorem.Finally,a simulation example of a planar 3-RRR parallel manipulator was given to verify the effectiveness of the proposed control algorithm and the necessity of the LuGre friction compensation.
作者
郭丁旭
姜乃晶
张舒
徐鉴
Guo Dingxu;Jiang Naijing;Zhang Shu;Xu Jian(School of aerospace engineering and applied mechanics,Tongji University,Shanghai 200082,China)
出处
《动力学与控制学报》
2019年第4期362-368,共7页
Journal of Dynamics and Control
基金
国家重点研发计划(2018YFC2001500)
国家自然科学基金资助项目(91748205,11772229)~~
