NDLI: Adaptive Control of Closed Kinematics Chains Based on Singularly Perturbed Formulation

Content Provider	IEEE Xplore Digital Library
Author	Wu Ailing Wang Zhonghua Zhou Zhiqun
Copyright Year	2007
Description	Author affiliation: Jinan Univ., Jinan (Wu Ailing; Wang Zhonghua; Zhou Zhiqun)
Abstract	The dynamics of parallel robots containing closed kinematics chains (CKCs) are usually described by differential-algebraic equations (DAEs). For the sake of control this type robot, the conventional control schemes usually rely on solving nonlinear algebraic constraint equations to obtain the dependent coordinates using the Newton-type iterations, this is not applicable to real-time implementation. In this paper, a novel adaptive control approach to the control of CKCs considering the inertia parameters uncertainties is proposed based on singularly perturbed model. This method transfers the control of the original DAEs to the control of an artificially created singularly perturbed system and can be conveniently implemented. The scheme is shown using Lyapunov theory that asymptotic trajectory tracking can be achieved. Simulation results of an illustrate example are given to demonstrate its efficacy.
Starting Page	128
Ending Page	132
File Size	467605
Page Count	5
File Format	PDF
ISBN	9787811240559
DOI	10.1109/CHICC.2006.4347028
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-07-26
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Parallel robots Uncertain systems Nonlinear equations Robot kinematics Robot control Differential algebraic equations Control systems Trajectory Singularly perturbed formulation Adaptive control Prallel robot Closed kinematics chains
Content Type	Text
Resource Type	Article

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