Adaptive Strategies in Compliant Motion Control

目前，在自适应控制方面有很强的研究兴趣， 机器人，也就是说，控制策略，这将允许机器人 机械手自动适应环境的变化， 负载，或异常干扰，以成功地 完成操作或装配任务。 一些控制器设计 依赖于系统动力学的近似，而另一些则需要 关节加速度测量和惯性反演 矩阵 该项目进一步开发了一种新的方法， 系统动能，而不是完全扩展的系统动力学。 该方法的优点包括保证全局收敛的 跟踪和计算简单性。 该项目的重点是 未知动态参数的外部控制问题， 沿着期望的方向控制被动机构的末端执行器 使用主动机器人的轨迹。 这个问题代表了一个大的 一类重要的实际应用，涉及运动控制， 复杂的机构或移动的环境。 打开一扇门， 曲柄，以及更复杂的问题，在工业设置属于 到这门课。 被控机构具有自身的非线性 动力学通常是未知的。 研究将集中在 控制算法的瞬态性能和权衡 在关节空间和笛卡尔坐标之间 空间公式。

There is a strong current research interest in adaptive control of robots, that is, control strategies which would allow a robot manipulator to automatically adapt to changes in its environment, loads, or to exceptional disturbances in order to successfully complete manipulation or assembly tasks. Some controller designs rely on approximations of system dynamics while others require measurements of joint accelerations and inversion of inertia matrices. This project further develops a new method which utilizes system kinetic energy rather than the fully expanded system dynamics. The method's strengths include guaranteed global convergence of the tracking, and computational simplicity. The project's focus is external control of unknown dynamic parameters, the problem of controlling the end effector of a passive mechanism along a desired trajectory using an active robot. This problem represents a large class of important practical applications involving motion control of complex mechanisms or mobile environments. Opening a door, turning a crank, as well as more complex problems in industrial settings belong to this class. The controlled mechanism has its own nonlinear dynamics which are generally unknown. The research will concentrate on transient performance of the control algorithms, and on trade-offs between joint space and Cartesian space formulations.