Adaptive robust control for spatial hydraulic parallel industrial robot

摘要

This paper proposes an adaptive robust control for spatial hydraulic industrial robot, with a view of improving the performance of trajectory tracking under varying uncertainty. The mathematical models of mechanical system and electro-hydraulic driven system of spatial 6-DOF industrial robot are described, under Kane method and hydromechanics method. The backstepping design methodology is adopted to develop the nonlinear adaptive robust control scheme, which treats the modeling errors and coupling as bounded disturbances, and regards parameters without a priori knowledge as parametric disturbances. The dynamic tracking performances of the closed-loop system with the proposed control for the industrial robot are validated via simulation. The theoretical and simulation results demonstrate that the developed controller can exhibit good tracking performance