Adaptive Control of 6-DOF Parallel Manipulator
This paper presents an adaptive controller equipped with disturbance rejection capability for a 6 degrees of freedom (6-DOF)parallel manipulator.The control scheme is proposed given that the 6-DOF parallel manipulator systems parameters are all subject to uncertainties,and only the positions and the velocities of links are measurable.In this paper,the dynamics of the 6-DOF parallel manipulator is denoted in the Lagrange method,and,as well as an appropriate storage function,some important properties of the dynamics are derived to develop an adaptive controller which,by the penalty signal chosen,can drive the motion tracking error to zero asymptotically.Lyapunov theory is used to guarantee the stability of the system.Simulation results show that the 6-DOF adaptive control system has a good tracking performance in both normal and extreme limited working conditions.
JIN Qinglong CHEN Wenjie
School of Automation,Beijing Institute of Technology,Beijing 100081,P.R.China Key Laboratory of Complex System Intelligent Control and Decision,Ministry of Education,Beijing 100081,P.R.China
国际会议
The 30th Chinese Control Conference(第三十届中国控制会议)
烟台
英文
1-6
2011-07-01（万方平台首次上网日期，不代表论文的发表时间）