时滞柔性关节机械臂自适应位置/力控制
Adaptive motion/force control for rigid-link flexible-joint manipulators with time delay

针对具有时滞的柔性关节机械臂自适应位置和力控制问题进行了研究. 首先, 通过坐标变换得出降维的位 置/力控制模型. 随后, 将时间滞后近似表示成一阶滞后, 进行时滞补偿. 利用自适应算法修正机械臂系统参数, 克服 模型参数不确定性对系统的影响. 同时, 采用反步控制技术设计机械臂位置/力控制器, 运用Lyapunov稳定性定理证 明控制器能使机械臂位置和力跟踪误差收敛. 最后的仿真研究验证了控制方案的有效性.
We investigate the adaptive motion/force control for rigid-link flexible-joint (RLFJ) manipulators with time delay. Firstly, a coordination transformation is introduced to obtain the reduced dynamic model. Secondly, the time delay is approximately considered as of first-order and is compensated. The adaptive law updates the unknown parameters online to reduce the impact on the system by manipulator modeling uncertainties. Meanwhile, the motion/force control strategy is proposed by using the backstepping method. The Lyapunov stability theory is employed to prove the stability of the system. Finally, the effectiveness of proposed scheme is validated by simulation research.