The study of model predictive control algorithm based on the force/position control scheme of the 5-DOF redundant actuation parallel robot
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- 作者：Shuhuan Wena ; swen@ysu.edu.cn" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae ; Guiqian Qina ; yanshanqgq@163.com" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae ; Baowei Zhanga ; 458110801@qq.com" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae ; H.K. Lamb ; hak-keung.lam@kcl.ac.uk" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae ; Yongsheng Zhaoc ; yszhao@ysu.edu.cn" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae ; Hongbin Wanga ; hb_wang@ysu.edu.cn" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae
- 关键词：Force/position hybrid control ; Parallel robot ; Redundant actuation ; PMSM ; MPC controller
- 刊名：Robotics and Autonomous Systems
- 出版年：2016
- 出版时间：May 2016
- 年：2016
- 卷：79
- 期：Complete
- 页码：12-25
- 全文大小：3993 K
文摘
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Parallel robot is designed by force/position hybrid control structure.
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The model predictive control algorithm is applied to the parallel robot control.
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The algorithm can significantly improve the robustness of the robot.
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The influence of robot model mismatch and the uncertain disturbance is suppressed.