Title :
Adaptive compensation of dynamics and friction for a planar parallel manipulator with redundant actuation
Author :
Shang, Weiwei ; Cong, Shuang
Author_Institution :
Dept. of Autom., Univ. of Sci. & Technol. of China, Hefei, China
Abstract :
In order to improve the actual tracking accuracy of a planar parallel manipulator with redundant actuation, a new adaptive compensation of dynamics and friction is developed. Firstly, the dynamic model is established in the task space for the parallel manipulator, and a linear parametrization expression with respect to the model parameters is formulated. Then, based on the dynamic model, a new adaptive control law which contains dynamics compensation, friction compensation and tracking error elimination items is designed. The parameter adaptation law is derived by the Lyapunov method, and the convergence of the tracking error and the error rate is proved by the Barbalat´s lemma. At last, the proposed controller is implemented in the trajectory tracking experiments of an actual planar parallel manipulator with redundant actuation.
Keywords :
Lyapunov methods; adaptive control; compensation; position control; redundant manipulators; Lyapunov method; actual tracking accuracy; adaptive compensation; adaptive control law; dynamics compensation; friction compensation; linear parametrization expression; planar parallel manipulator; redundant actuation; tracking error elimination items; trajectory tracking experiments; Adaptation model; Dynamics; Friction; Joints; Manipulator dynamics; Torque;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on
Conference_Location :
Tianjin
Print_ISBN :
978-1-4244-9319-7
DOI :
10.1109/ROBIO.2010.5723378