云南师范大学学报（自然科学版）2023，Vol.43Issue(6)：43-49,7.DOI:10.7699/j.ynnu.ns-2023-079
冗余驱动并联机器人多目标控制方法
Multi-objective Control Method for Redundant Drive Parallel Robots
摘要
Abstract
The joint degrees of freedom of redundant drive parallel robots increase the flexibility of mo-tion,but also increase the risk of collision.In multi-objective control,effective obstacle avoidance con-trol is required to ensure the safety and stability of the robot during task execution.Therefore,in re-sponse to this issue,a multi-objective control method design for redundant drive parallel robots is pro-posed.Analyze the motion characteristics of the robot using the Lagrange method and construct the motion equation of the robot;based on the RBF neural network,an adaptive method is adopted to es-tablish a sliding mode controller,and the sliding mode controller is modified based on Lyapunov stabil-ity to improve the stability of the controller;apply connectivity barrier control and obstacle avoidance barrier control strategies to achieve robot motion control.The experimental results show that the pro-posed method can achieve precise obstacle avoidance,with small control error,high efficiency,and sta-ble effect.关键词
多目标控制/拉格朗日法/RBF神经网络/李亚普诺夫稳定性/屏障控制Key words
Multi objective control/Lagrangian method/RBF neural network/Lyapunov stability/Barri-er control分类
信息技术与安全科学引用本文复制引用
李亚美,万里..冗余驱动并联机器人多目标控制方法[J].云南师范大学学报（自然科学版）,2023,43(6):43-49,7.基金项目
河北省教育厅科学研究计划资助项目(ZC2021031). （ZC2021031）
