摘要
运用拉格朗日动力学方法建立了具有冗余驱动的二自由度平面并联机器人的数学模型.采用鲁棒轨迹跟踪控制器,使得对于存在初始误差以及模型误差有界的情况跟踪误差一致终值有界.根据给定的期望轨迹及系统参数进行了动力学仿真,仿真结果证明了此方法是有效的,并显示出了冗余驱动的一些优点.
The dynamic equations of planar 2 - DOF redundantly actuated parallel robot are derived using Lagrangian formulation. Robust trajectory tracking controller is employed, so, the tracking error is uniformly and ultimately bounded in the presence of initial error and bounded modeling error. Then, dynamic simulation is performed, according to given desired trajectory and parameters of the parallel robot. Simulation result has proved the effectiveness of the scheme and show some advantages of redundant actuation.
出处
《福州大学学报（自然科学版）》
CAS
CSCD
北大核心
2005年第4期487-490,共4页
Journal of Fuzhou University(Natural Science Edition)
关键词
并联机器人
冗余驱动
动力学方程
鲁棒控制
parallel manipulator
redundant actuation
dynamic equations
robust control
