Passivity-based observer/controller design with desired dynamics compensation for 6 dofs parallel manipulators
Passivity-based observer/controller design with desired dynamics compensation for 6 dofs parallel manipulators
复制标题
基于无源的观察器/控制器设计，具有 6 自由度并联机械臂所需的动态补偿
DOI：
10.1109/iros.2008.4650595
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发表时间：
2008
期刊：
影响因子：
--
通讯作者：
J. Kotlarski
中科院分区：
文献类型：
--
作者：
H. Abdellatif;B. Heimann;J. Kotlarski
本文提出了一种6自由度并联机器人的跟踪方案。它是基于一个控制器/观测器的组合与所需的动态的额外补偿。后者是必要的，以避免在线计算的正运动学。然而，它引入了系统误差。考虑到这种偏差的被动基于形式主义。实验证明，所得到的方法是非常强大的和强大的初始误差和模型的不确定性。
This article provides a tracking scheme for 6 DOFpsilas parallel robots. It is based on a controller/observer combination with an additional compensation of the desired dynamics. The latter is necessary to avoid an online calculation of the direct kinematics. However, it introduces systematic errors. To take such deviations into account a passivity based formalism is used. The resulting approach is experimentally substantiated and proven to be highly powerful and robust against initial errors and model uncertainties.