On the Recursive Implementation of Adaptive Control for Robot Manipulators
会议名称：《第二十九届中国控制会议》
会议日期：2010年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
基 金：supported by National Natural Science Foundation of China under Grant 60704014
关 键 词：Adaptive Control Recursive Implementation Robot Manipulators Uncertainties Passivity
摘 要：This paper investigates the recursive implementation of adaptive control for robot *** the spatial vector tool and exploiting some physical properties of multi-body systems,we propose a general framework on the seeking of the Coriolis and centripetal matrix which satisfies the so-called skew-symmetric *** two existing choices are analyzed and a new kind of Coriolis and centripetal matrix is *** between these choices show that the simplest-form Coriolis and centripetal matrix comes from the original recursive Newton-Euler dynamics based on spatial vectors,which implies that skew-symmetric property is an inherent property possessed by spatial-vector based recursive Newton-Euler dynamics *** the proposed general framework regarding establishment of the Coriolis and centripetal matrix,a class of recursive passivity based adaptive algorithms have been *** the next,we present an algorithm on how to derive the filtered manipulator torque *** this filtered torque,the prediction error of the filtered torque is obtained and injected to the direct adaptation,forming the well-known composite adaptation *** adaptation driven by both the tracking errors and the prediction errors gives more smooth tracking error response and estimated parameter response,and also better tracking accuracy.A six-DOF manipulator is employed as a simulation example to show the performance of the proposed recursive algorithms.