Position control of a Stewart platform using inverse dynamics control with approximate dynamics
Position control of a Stewart platform using inverse dynamics control with approximate dynamics
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DOI：
10.1016/s0957-4158(02)00033-8
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发表时间：
2003-07-01
期刊：
影响因子：
3.3
通讯作者：
Hong, DH
中科院分区：
文献类型：
--
作者：
Lee, SH;Song, JB;Hong, DH
机器人动力学方程中的位形相关非线性系数矩阵给基于逆动力学控制器(IDC)的跟踪控制的实时实现带来了计算负担。然而，与串联机械手相比，Stewart平台等并联机械手的工作空间相对较小。根据运动范围小的特点，可以将非线性系数矩阵近似为常量系数矩阵。由这种近似引起的建模误差由H_无穷控制器补偿，H_无穷控制器将误差视为扰动。所提出的近似动态与H_无穷控制相结合的IDC，即使对于全动态计算不容易实现的快速跟踪控制，也具有良好的跟踪性能。(C)2002爱思唯尔科学有限公司。保留所有权利。
Configuration-dependent nonlinear coefficient matrices in the dynamic equation of a robot manipulator impose computational burden in real-time implementation of tracking control based on the inverse dynamics controller (IDC). However, parallel manipulators such as a Stewart platform have relatively small workspace compared to serial manipulators. Based on the characteristics of small motion range, nonlinear coefficient matrices can be approximated to constant ones. The modeling errors caused by such approximation are compensated for by H-infinity controller that treats the error as disturbance. The proposed IDC with approximate dynamics combined with H-infinity control shows good tracking performance even for fast tracking control in which computation of full dynamics is not easy to implement. (C) 2002 Elsevier Science Ltd. All rights reserved.