A projection method for the elimination of contradicting control forces in redundantly actuated PKM
作者： Andreas Muller , Timo Hufnagel
DOI: 10.1109/ICRA.2011.5979721
关键词: Setpoint 、 Projection method 、 Control theory 、 Kinematics 、 Engineering 、 Encoder 、 Stability (probability) 、 Stability theory 、 Decentralised system 、 Exponential stability
摘要: While redundantly actuated PKM(RA-PKM) possess desirable kinematic and dynamic properties, their control is impeded by the occurrence of antagonistic forces. Such forces are observed in non-linear model-based as well decentralized schemes. In this paper it outlined that such inherent to RA-PKM, also calibration errors finite encoder resolutions cause excited vibrations, hence energy loss instabilities. The effect measurement stability individual PD computed torque analyzed. They shown yield asymptotically stable setpoint control. A central result a projection method for elimination contradicting commands. This valid independently actual scheme. Experimental results presented 2RRR/RR implementation. confirm proposed scheme reduces up model uncertainties.
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