欠驱动
控制理论(社会学)
被动性
控制器(灌溉)
运动学
李雅普诺夫函数
机器人
机器人运动学
偏微分方程
控制工程
计算机科学
工程类
移动机器人
数学
控制(管理)
非线性系统
物理
人工智能
数学分析
农学
经典力学
量子力学
电气工程
生物
作者
M. Reza J. Harandi,S. A. Khalilpour,Hamid D. Taghirad
出处
期刊:IEEE Transactions on Industrial Informatics
[Institute of Electrical and Electronics Engineers]
日期:2023-06-01
卷期号:19 (6): 7552-7560
被引量:3
标识
DOI:10.1109/tii.2022.3211980
摘要
In underactuated robots with closed kinematic chains, the task space configuration variables are coupled through complex dynamics. In this article, the regulation control of a 3-DOF underactuated cable-driven parallel robot is investigated by using the interconnection and damping assignment passivity-based control approach, which is designed based on the solution of some challenging partial differential equations (PDEs). Additionally, as cables can only pull, positive tension in cables shall also be taken into account. Here, the corresponding PDE for the controller design is solved by transforming the PDE into some Pfaffian differential equations. Then, boundedness of control efforts are ensured via suitable modification of the gains. Furthermore, an adaptation law for the mass of the robot is designed and the system stability is investigated through the Lyapunov direct method. The efficiency of the proposed controller is confirmed and compared to another method through experiment.
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