3114 Adaptive Control of Concatenated Closed-Link Hyper-Redundant Manipulators

概要

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This paper addresses the problem of controlling serial link hyper-redundant manipulators (HRM). Due to the large number of degrees of freedom (DOF) in such devices, the associated dynamics are relatively complicated, nonlinear and subject to a high level of parameter uncertainty. This makes the control problem particularly difficult to solve. We therefore propose an adaptive control scheme based on the minimum control synthesis (MCS) algorithm that has been successfully used for controlling similarly complex machines and devices across a number of diverse fields. MCS has a number of attractive features: eg. no a priori knowledge of the robot structure is required; there is no need for parameter identification; no precise adjustment of control parameters is necessary and stability proofs have been well-established. After a brief summary of the basic MCS algorithm, we introduce an improved algorithm, which provides a more robust environment in terms of gain wind-up protection. A proof of stability based on the passivity criteria is also provided. Simulation results are included, which demonstrate the control effectiveness of the new adaptive algorithm, when applied to a manipulator consisting of serially connected, closed-link units.
一般社団法人日本機械学会の論文
2007-08-08