A motion control strategy based on equivalent mass matrix in multidegree-of-freedom manipulator
A motion control strategy based on equivalent mass matrix in multidegree-of-freedom manipulator
复制标题
多自由度机械臂基于等效质量矩阵的运动控制策略
DOI：
10.1109/41.370377
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发表时间：
1995
期刊：
影响因子：
--
通讯作者：
K. Ohnishi
中科院分区：
文献类型：
--
作者：
T. Murakami;N. Oda;Yuji Miyasaka;K. Ohnishi
本文提出了一种基于等效质量矩阵的解耦运动控制策略。在传统方法中，等效质量矩阵被定义为雅可比矩阵和机械臂惯量的函数。因此，很难精确地知道等效质量矩阵的变化，也很难任意地选择。这使得解耦运动控制器难以在操作空间中实现。为了改善上述问题，作者引入了一种基于扰动观测器的鲁棒控制策略。在基于观测器的方法中，等效质量矩阵的确定与机械臂的构型和惯性变化无关。首先，推导了基于鲁棒控制的等效质量矩阵。其次，利用等效质量矩阵讨论了操作空间控制器的简化方法。实验结果验证了所提方法的有效性。>
This paper describes a decoupling motion control strategy based on an equivalent mass matrix in operational space. In the conventional approach, the equivalent mass matrix is defined as a function of Jacobian matrix and inertia of manipulator. Therefore, it is difficult to know the variation of the equivalent mass matrix precisely and to select it arbitrarily. This makes it difficult to realize the decoupling motion controller in the operational space. To improve the above problem, the authors introduce a robust control strategy based on a disturbance observer. In the observer-based approach, the equivalent mass matrix is determined arbitrarily independently of configuration and inertia variation of the manipulator. First, the equivalent mass matrix based on robust control is derived. Second, a simplification method of an operational space controller is discussed by using the equivalent mass matrix. Several experimental results are shown to confirm the validity of the proposed methods. >
DOI：
10.1115/1.3139652
发表时间：
1981-01-01
影响因子：
1.7
作者：
RAIBERT, MH;CRAIG, JJ
通讯作者：
CRAIG, JJ