Finite-time PD control of robot manipulators with adaptive gravity compensation
Finite-time PD control of robot manipulators with adaptive gravity compensation
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DOI：
10.1109/cca.2016.7587927
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发表时间：
2016-09
期刊：
影响因子：
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通讯作者：
Juro Fujishiro;Yoshiro Fukui;T. Wada
中科院分区：
文献类型：
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作者：
Juro Fujishiro;Yoshiro Fukui;T. Wada
我们提出了一种新的PD控制使用自适应重力补偿与有限时间收敛速度的位置控制问题的机器人操作器。该控制是传统的线性PD控制与自适应重力补偿机器人机械手的扩展。理论分析表明，当原点局部渐近稳定时，期望位置是有限时间稳定的。对两连杆机械手的仿真结果表明，该方法比传统方法具有更高的收敛速度和精度。
We propose a new PD control using adaptive gravity compensation with a finite-time convergence rate for the position control problem in robot manipulators. The control is an extension of the conventional linear PD control with adaptive gravity compensation for robot manipulators. Theoretical analysis showed that the desired position is finite-time stable when the origin is locally asymptotically stable. Simulations with a two-link manipulator showed that the proposed method achieves higher convergence rate and accuracy than the conventional method.