| 力前馈控制的并联机器人自适应系统的研究 |
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| 作者单位： | Kong Lingfu; Huang Zhen (Dept.of Computer Eng. ) (Dept. Ⅱ of Mech. Eng. ) |
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| 摘 要： | 针对６—ＤＯＦ并联机器人的液压主关节．设计了一种力前馈控制．结构简单．容易实现的模型参考自适应系统ＭＲＡＣＳ．仿真表明：此系统稳定可靠．有效地抑制了干扰作用．提高了系统的跟踪精度．本文的研究为系统的实际应用奠定了基础．
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| 关 键 词： | 并联机器人，模型参考自适应控制，前馈控制 |
A Study on the Adaptivr Control System Combined with Force Feedforward Control for Parallel Manipulator |
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| Authors: | Kong Lingfu Huang Zhen |
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| Abstract: | A model-referenced adaptive control system combined with force feedforward control for the hydraulic joints of 6-DOF parallel manipulator is presented in this paper, and it is simple on the system structure. The simulation of this system shows that it is reliable. stable. and it can effectively refrain the interference. improve the system tracing accuracy. The study in this work can be used in the practical manipulator system. |
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| Keywords: | parallel manipulator model-referenced adaptive control (MRAC) feedforward control |
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