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| 考虑基础振动与惯量不确定的机械臂力位混合控制 |
| Hybrid force/position control of manipulators under inertial uncertainty and base oscillations |
| 投稿时间：2020-05-27 |
| DOI： |
| 中文关键词: 机械臂 力位混合控制 基础振动 惯量不确定 隐式Lyapunov函数 有界鲁棒控制 |
| 英文关键词: manipulator hybrid force/position control base oscillation uncertain inertia implicit Lyapunov function bounded robust control |
| 基金项目:国家自然科学基金资助项目(51605344);中国博士后科学基金资助项目(2016M592398). |
| 作者 | 单位 | E-mail | | 王佳松 | 武汉科技大学冶金装备及其控制教育部重点实验室,湖北 武汉,430081
武汉科技大学机器人与智能系统研究院,湖北 武汉,430081 | jiasongwang1995@gmail.com | | 郭宇飞 | 武汉科技大学冶金装备及其控制教育部重点实验室,湖北 武汉,430081
武汉科技大学机器人与智能系统研究院,湖北 武汉,430081 | | | 王志刚 | 武汉科技大学冶金装备及其控制教育部重点实验室,湖北 武汉,430081 | | | 郝志强 | 武汉科技大学冶金装备及其控制教育部重点实验室,湖北 武汉,430081 | |
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| 中文摘要: |
| 针对机械臂与环境接触碰撞过程中受基础振动和负载惯量不确定性的影响,将机械臂末端的力控制和位置控制解耦到正交空间下,采用比例-积分加接触力前馈控制方法和一种基于隐式Lyapunov函数的控制算法分别进行力控制和位置控制,设计一种用于连续时变反馈机械臂位置控制的力位混合控制器；并在基础振动下与传统的机械臂力位混合控制器性能进行仿真对比,同时对负载惯量不确定情况下该力位混合控制器的性能进行仿真计算。结果表明,所设计的机械臂力位混合控制器能够抑制基础振动和负载惯量不确定性的影响,实现了机械臂在基础振动与负载惯量不确定情况下接触力和位置的同时控制；与传统的力位混合控制器相比,其在控制速度、控制精度和稳定性等方面均有明显提升,具有良好的鲁棒性。 |
| 英文摘要: |
| Aimed at the impact of base oscillations and load inertia uncertainty in the contact collision between manipulators and environment, the force control and position control at the end of manipulators were decoupled into the orthogonal space. The proportional-integral and contact force feedforward control method was used in force control. A control algorithm based on implicit Lyapunov function was used in position control. A hybrid force-position controller for position control of manipulators with continuous time-varying feedback was designed. The performance of the manipulators hybrid force-position controller was simulated and compared with the traditional controller under the base oscillations. And the performance of the manipulators hybrid force-position controller under load inertia uncertainty was compared and calculated. The results show that the designed manipulators hybrid force-position controller can suppress the influence of base oscillations and load inertia uncertainty. The contact force and position of manipulators under base oscillations and inertia uncertainty are controlled simultaneously. Compared with the traditional hybrid force-position controller, the control velocity, control accuracy and stability of the designed controller are improved obviously, featuring good robustness. |
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