Mechatronics最新文献_第3页

Driver perspective inspired pure pursuit path tracking control method for autonomous ground vehicles 基于驾驶员视角的自动驾驶地面车辆纯追踪路径跟踪控制方法

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-11-20 DOI: 10.1016/j.mechatronics.2025.103424

Haojie Zhang , Rongmin Liang , Feng Jiang , Qing Li

The autonomous ground vehicles (AGVs) are expected to reliably track a planned path with high-accuracy in a wide variety of industry and civilian applications. Pure pursuit is widely used to solve this problem. However, most of the existing pure pursuit methods have the cutting-corner problem which results in poor path tracking performance when there are sharp turns. In this article, we learn from how the human drivers look ahead when they drive the vehicle to follow a road and propose the concept of path projected area for the first time which is similar to the driver perspective. An adaptive pure pursuit path tracking control method based on projected area is developed for AGVs, named PA-PP. First, a look-ahead distance is selected based on the predefined threshold of the path projected area in the method. Then, the velocity allocation method is introduced which also takes into account the path projected area. The optimal control command is generated through an adaptive controller. We verify the effectiveness of the PA-PP method in simulation and vehicle tests by comparing the performance of it with other three pure pursuit methods. The results show that the PA-PP method can not only improve the tracking robustness while the vehicle enters a turn, but also can result in a reduction of cumulative path tracking errors by nearly 31.09% in simulation test and 21.02% in vehicle experiment comparing to those of the classic pure pursuit algorithms.

自主地面车辆（agv）有望在各种工业和民用应用中以高精度可靠地跟踪规划路径。单纯追求被广泛用于解决这一问题。然而，现有的纯跟踪方法大多存在拐角问题，导致在急转弯时路径跟踪性能较差。在这篇文章中，我们借鉴了人类驾驶员在驾驶车辆沿着道路行驶时的前瞻，首次提出了类似于驾驶员视角的路径投影面积的概念。提出了一种基于投影面积的agv自适应纯追踪路径跟踪控制方法PA-PP。该方法首先根据路径投影面积的预定义阈值选择前瞻距离；然后介绍了考虑路径投影面积的速度分配方法。最优控制命令通过自适应控制器生成。通过与其他三种纯追踪方法的性能比较，验证了PA-PP方法在仿真和车辆试验中的有效性。结果表明，PA-PP方法不仅提高了车辆转弯时的跟踪鲁棒性，而且与经典的纯跟踪算法相比，仿真测试和车辆实验的累积路径跟踪误差分别减少了近31.09%和21.02%。

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引用次数: 0

Ultra-Local Sliding Mode Control with Control Barrier Functions: A Framework for Adaptive Cruise Control 具有控制障碍函数的超局部滑模控制：一种自适应巡航控制框架

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-11-20 DOI: 10.1016/j.mechatronics.2025.103430

Fernando Zolubas Preto , Bruno Augusto Angélico , Evandro Leonardo Silva Teixeira , João Francisco Justo

This work proposes a unification of safety-proven control laws with modeling-free approaches, with a primary focus on handling complex applications. The proposed control law is an Ultra-Local Sliding-Mode Control (ULSMC) with Control Barrier Function (CBF) that is a combination capable of ensuring safety and robustness using minimal phenomenological modeling. This approach is used to design an Adaptive Cruise Control (ACC) system that has successfully accomplished some of the most challenging Euro NCAP Tests in a Hardware-In-the-Loop platform, using a realistic vehicular simulator. Moreover, a cubic per part condition is developed on the time derivative of the CBF, allowing the CBF safety filter to dynamically arbitrate between prioritizing safety, performance, or safety-recoverability according to the safety level measured by the CBF function. In particular, safety-recoverability is verified through simulations of realistic hazardous scenarios caused by external vehicles on the road. Furthermore, a modified headway-time-based CBF is developed to address ACC operation under complete stop scenarios. The robustness of the ULSMC control is shown to be essential to ensure ACC performance requirements when adopting an almost modeling-free approach.

这项工作提出了安全证明的控制律与无建模方法的统一，主要关注处理复杂的应用程序。所提出的控制律是一种具有控制障碍函数（CBF）的超局部滑模控制（ULSMC），它是一种能够使用最小现象学建模确保安全性和鲁棒性的组合。该方法被用于自适应巡航控制（ACC）系统的设计，该系统已经成功地在硬件在环平台上完成了一些最具挑战性的欧洲NCAP测试，使用了逼真的车辆模拟器。此外，在CBF的时间导数上建立了每部分立方的条件，允许CBF安全过滤器根据CBF函数测量的安全级别动态地在优先安全、性能或安全可恢复性之间进行仲裁。特别是，通过模拟外部车辆在道路上造成的现实危险情景，验证了安全可恢复性。此外，开发了一种改进的基于进度时间的CBF，以解决完全停止情况下的ACC操作问题。当采用几乎无需建模的方法时，ULSMC控制的鲁棒性对于确保ACC性能要求至关重要。

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引用次数: 0

An electromagnetically actuated large-range nanopositioner with integrated magnetic preloading 一种集成磁预压的电磁驱动大范围纳米逆变器

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-11-12 DOI: 10.1016/j.mechatronics.2025.103425

R. Krishna , G.R. Jayanth

Voice coil motors are excellent for actuating nanopositioners owing to their simplicity and stability, but possess large footprint relative to their range, and also require trading off between their range and speed. This paper reports a compact, large range voice-coil motor based nanopositioner which avoids trading off between range and speed. The large range is achieved by means of an optimally designed magnetic preloading system that loads the mechanical suspension close to its first buckling mode and thereby greatly reduces its mechanical stiffness. A planar electromagnetic actuator is proposed, and is shown to enable independent control of electromagnetic force and local stiffness, which together also trading off between range and speed. Analytical models are proposed for both these systems, validated using numerical simulations, and subsequently experimentally realized. The actuation range of over 3 mm is experimentally achieved, representing a 5.76 fold improvement compared to a conventional compliant suspension. A 3.4 times speed improvement is demonstrated owing to the high magnetic trapping stiffness as compared to the case without it. Feedback control of the stage has also been performed and demonstrated to enable accurately tracking diverse waveforms. A large range-to-footprint ratio of 1:10 is achieved. The positioner is demonstrated to follow 40 nm step increments with a noise of 2.34 nm RMS.

音圈电机因其简单和稳定而非常适合驱动纳米定位器，但相对于其范围而言，其占地面积较大，并且还需要在范围和速度之间进行权衡。本文报道了一种紧凑、大量程音圈电机纳米逆变器，避免了量程和速度之间的权衡。大范围是通过优化设计的磁预加载系统实现的，该系统加载机械悬架接近其第一屈曲模式，从而大大降低了其机械刚度。提出了一种平面电磁执行器，并证明了它可以实现电磁力和局部刚度的独立控制，同时也可以在距离和速度之间进行权衡。本文提出了这两种系统的解析模型，并通过数值模拟进行了验证，随后进行了实验实现。在实验中实现了超过3毫米的驱动范围，与传统的柔性悬架相比，提高了5.76倍。由于高磁捕获刚度，与没有磁捕获刚度的情况相比，速度提高了3.4倍。舞台的反馈控制也被执行并证明能够准确地跟踪各种波形。实现了1:10的大范围与足迹比。该定位器被证明遵循40 nm步长增量，噪声为2.34 nm RMS。

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引用次数: 0

Fixed-time adaptive sliding mode momentum observer for external torque estimation of robotic manipulators 机械臂外转矩估计的定时自适应滑模动量观测器

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-11-12 DOI: 10.1016/j.mechatronics.2025.103429

Jiahua Ma , Wenxiang Deng , Wei Chen , Jian Hu , Jianyong Yao

This paper proposes a fixed-time adaptive sliding mode momentum observer (FTASMMO) to improve external torque estimation in robotic manipulators interacting with the environment, without the need for torque sensors, thus enabling effective collision detection. Specifically, the proposed observer integrates fixed-time stability with generalized momentum, ensuring that the estimation error of external torques remains fixed-time stable. An adaptive law is introduced to effectively handle time-varying external torques with unknown upper bounds, while reducing conservatism in gain selection. The observer also employs a smooth tanh function in place of a sign function to reduce estimation chattering and improve observation accuracy. Additionally, Lyapunov analysis is employed to demonstrate the fixed-time stability of the observer. Simulation and experiments with a 7-degree-of-freedom collaborative robot demonstrate that the proposed observer significantly improves the speed and accuracy of torque estimation compared to existing methods.

本文提出了一种固定时间自适应滑模动量观测器（FTASMMO），以改进机器人与环境交互时的外部扭矩估计，而不需要扭矩传感器，从而实现有效的碰撞检测。具体来说，该观测器将定时稳定性与广义动量相结合，保证了外部力矩的估计误差保持定时稳定。引入一种自适应律，有效地处理带有未知上界的时变外部转矩，同时降低了增益选择的保守性。该观测器还采用平滑tanh函数代替符号函数，以减少估计抖振，提高观测精度。此外，采用李雅普诺夫分析来证明观测器的定时稳定性。对一个7自由度协作机器人的仿真和实验表明，与现有方法相比，该观测器显著提高了力矩估计的速度和精度。

引用次数: 0

A machine learning approach to predict wrist posture in telerehabilitation with haptic devices 一种机器学习方法在触觉设备远程康复中预测手腕姿势

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-11-08 DOI: 10.1016/j.mechatronics.2025.103423

Roni Barak Ventura , Angelo Catalano , Joo H. Kim , Maurizio Porfiri

Stroke survivors often experience fine motor impairments that prevent them from participating in activities of daily living, adversely impacting their quality of life. Telerehabilitation with haptic devices has the potential to engage survivors in sensorimotor therapy of their hand and wrist, while also collecting pertinent information about their movement towards remote assessment by a medical professional. Nonetheless, it remains challenging to measure patients’ joint angles during interaction with haptic devices, which undermines their prospective use in telerehabilitation. We propose a simple set-up where patients wear a smartphone on their forearm while manipulating the haptic device. In this setting, data from inertial sensors embedded in the smartphone would be integrated with data from the haptic device via a machine learning algorithm to predict the patients’ wrist angle. We demonstrate the feasibility of this approach in experiments with 19 healthy subjects. We measure their wrist angle as they perform a motor task with a Novint Falcon haptic device while wearing sensors on their limb, and train a linear regression model that predicts the wrist angle. The model predicts wrist angles with an accuracy of 88.8%. This effort constitutes a significant step toward automatic assessment of joint movements in fine motor telerehabilitation.

中风幸存者经常经历精细运动障碍，这使他们无法参与日常生活活动，对他们的生活质量产生不利影响。使用触觉设备的远程康复有可能使幸存者参与手部和手腕的感觉运动治疗，同时还可以收集有关其运动的相关信息，以便由医疗专业人员进行远程评估。尽管如此，在与触觉设备交互过程中测量患者的关节角度仍然具有挑战性，这破坏了它们在远程康复中的应用前景。我们提出了一个简单的设置，病人在前臂上戴一个智能手机，同时操纵触觉设备。在这种情况下，智能手机中嵌入的惯性传感器的数据将通过机器学习算法与触觉设备的数据相结合，以预测患者的手腕角度。我们在19名健康受试者的实验中证明了这种方法的可行性。当他们在肢体上戴着传感器，用Novint Falcon触觉设备执行运动任务时，我们测量了他们的手腕角度，并训练了一个线性回归模型来预测手腕角度。该模型预测手腕角度的准确率为88.8%。这一努力构成了精细运动远程康复中自动评估关节运动的重要一步。

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引用次数: 0

Learning feedforward with unmeasured performance variables: With application to a wirebonder 具有未测量性能变量的学习前馈：应用于焊丝机

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-10-28 DOI: 10.1016/j.mechatronics.2025.103422

Maurice Poot , Jorrit Sprik , Matthijs Teurlings , Wout Laarakkers , Dragan Kostić , Jim Portegies , Tom Oomen

Feedforward motion control for unmeasured performance variables at the point of interest is crucial for attaining high throughput and accuracy in motion systems. The aim of this paper is to develop a data-driven approach for feedforward tuning that addresses the true performance at the point of interest. The presented approach is a novel methodology that employs rational feedforward structures for performing flexible tasks with high accuracy, in conjunction with an sensor fusion for addressing the point-of-interest. In particular, the tracking error of the unmeasured performance variable is accurately estimated by combining acceleration measurements and encoder measurements. Simulation results show that optimizing for the estimated point-of-interest error achieves similar tracking performance as optimizing for the true point-of-interest error, indicating accurate sensor-fusion estimates for feedforward control. Experimental validation demonstrates that optimizing for the estimated point-of-interest error significantly reduces the estimated point-of-interest tracking error compared to minimizing the encoder error.

在感兴趣的点对未测量的性能变量进行前馈运动控制对于在运动系统中获得高吞吐量和准确性至关重要。本文的目的是开发一种数据驱动的前馈调优方法，以解决感兴趣点的真实性能。所提出的方法是一种新颖的方法，它采用合理的前馈结构来执行高精度的灵活任务，并结合传感器融合来解决感兴趣点。特别是结合加速度测量和编码器测量，准确估计了未测性能变量的跟踪误差。仿真结果表明，对估计兴趣点误差的优化与对真实兴趣点误差的优化获得了相似的跟踪性能，表明对前馈控制的传感器融合估计是准确的。实验验证表明，与最小化编码器误差相比，对估计的兴趣点误差进行优化可以显着降低估计的兴趣点跟踪误差。

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引用次数: 0

Reconfigurable hydrostatics: Toward versatile and efficient load-bearing robotics 可重构流体静力学：走向多功能和高效的承载机器人

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-10-23 DOI: 10.1016/j.mechatronics.2025.103420

Jeff Denis, Frédéric Laberge, Jean-Sébastien Plante, Alexandre Girard

Wearable and legged robot designers face multiple challenges when choosing actuation. Traditional fully actuated designs using electric motors are multifunctional but oversized and inefficient for bearing conservative loads and for being backdrivable. Alternatively, quasi-passive and underactuated designs reduce the amount of motorization and energy storage, but are often designed for specific tasks. Designers of versatile and stronger wearable robots will face these challenges unless future actuators become very torque-dense, backdrivable and efficient.

This paper explores a design paradigm for addressing this issue: reconfigurable hydrostatics. We show that a hydrostatic actuator can integrate a passive force mechanism and a sharing mechanism in the fluid domain and still be multifunctional. First, an analytical study compares the effect of these two mechanisms on the motorization requirements in the context of a load-bearing exoskeleton. Then, the hydrostatic concept integrating these two mechanisms using hydraulic components is presented. A case study analysis shows the mass/efficiency/inertia benefits of the concept over a fully actuated one. Then, experiments are conducted on robotic legs to demonstrate that the actuator concept can meet the expected performance in terms of force tracking, versatility, and efficiency under controlled conditions. The proof-of-concept can track the vertical ground reaction force (GRF) profiles of walking, running, squatting, and jumping, and the energy consumption is 4.8x lower for walking. The transient force behaviors due to switching from one leg to the other are also analyzed along with some mitigation to improve them.

可穿戴式和腿式机器人的设计者在选择驱动方式时面临着多重挑战。使用电动机的传统全驱动设计是多功能的，但在承受保守负载和反向驱动方面体积过大，效率低下。另外，准被动和欠驱动设计减少了机动化和能量存储的数量，但通常是为特定任务而设计的。除非未来的驱动器变得非常扭矩密集、可反向驱动和高效，否则多功能和更强大的可穿戴机器人的设计者将面临这些挑战。本文探讨了解决这个问题的设计范例：可重构流体静力学。研究表明，流体静压作动器可以将流体领域的被动受力机构和共享机构集成在一起，并且仍然具有多功能。首先，一项分析研究比较了这两种机制在承重外骨骼环境下对机动化要求的影响。然后，提出了利用液压元件将这两种机构结合起来的流体静力学概念。案例分析表明，与完全驱动的概念相比，该概念在质量/效率/惯性方面具有优势。然后，在机器人腿上进行了实验，验证了执行器概念在受控条件下的力跟踪、通用性和效率方面能够满足预期的性能。概念验证可以跟踪步行，跑步，蹲起和跳跃的垂直地面反作用力（GRF）曲线，并且步行的能量消耗降低4.8倍。还分析了从一条腿切换到另一条腿时的瞬态力行为，并提出了一些改进措施。

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引用次数: 0

Parameter identification algorithm for separated cable-driven parallel mechanisms via calibration error compensation 基于标定误差补偿的分离式缆索驱动并联机构参数辨识算法

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-10-22 DOI: 10.1016/j.mechatronics.2025.103421

Yanze Zhang, Yongnian Zhang, Jieyu Xian, Xingyu Lu, Zhiqiang Huang, Xiaochan Wang

For traditional Cable-Driven Parallel Robot (CDPR), changing the workspace is relatively difficult and requires reconfiguring the anchor points and outer frame. The main reason is that the frame-type configuration is often difficult to unfold and the anchor points are hard to identify. Additionally, since the anchor points are not connected by a fixed structure, the parameters can only be determined through manual measurement, which has limited accuracy. Therefore, the position values of the anchor points should be re-identified using appropriate calibration methods, particularly through the use of rapid automatic calibration methods. This paper proposes a rapid identification and calibration-error compensation method for anchor points of a separated cable-driven parallel robot operating in a non-structured environment. By calibration-error compensation, we refer to the simultaneous estimation and correction of anchor-point positions and calibration-reference errors, which reduces bias from imperfect calibration hardware and enhances identification robustness. To improve the motion accuracy of the moving platform, a static motion error identification model is established based on kinematics, and a least squares method is employed to fit the model and calculate the kinematic parameter positions. Additionally, since calibration plates are used for calibration, random errors may occur. Therefore, a hybrid optimization framework combining AHDBO and the least squares method is further proposed to address the local optimality problem caused by multi-anchor point error coupling. Experimental results showed that after parameter identification and error compensation, the average anchor point identification error was 3.225 mm, and the motion platform position error was 2.20 mm. These results confirm that the proposed parameter identification and compensation methods can effectively improve deployment precision in separated CDPR.

对于传统的缆索驱动并联机器人（CDPR）来说，改变工作空间比较困难，需要重新配置锚点和外框架。主要原因是框架型结构往往难以展开，锚点难以识别。此外，由于锚点之间没有固定结构连接，只能通过人工测量来确定参数，精度有限。因此，应使用适当的校准方法，特别是通过使用快速自动校准方法，重新确定锚点的位置值。提出了一种非结构环境下分离索驱动并联机器人锚点的快速识别与标定误差补偿方法。通过校准误差补偿，我们可以同时估计和修正锚点位置和校准参考误差，从而减少了校准硬件不完善带来的偏差，增强了识别的鲁棒性。为提高运动平台的运动精度，建立了基于运动学的静态运动误差辨识模型，采用最小二乘法对模型进行拟合，计算运动参数位置。此外，由于校正板用于校正，可能会出现随机误差。为此，进一步提出了AHDBO与最小二乘法相结合的混合优化框架，解决了多锚点误差耦合引起的局部最优性问题。实验结果表明，经过参数辨识和误差补偿后，平均锚点辨识误差为3.225 mm，运动平台位置误差为2.20 mm。结果表明，所提出的参数辨识与补偿方法能够有效提高分离式CDPR的部署精度。

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引用次数: 0

Snake robots: A state-of-the-art review on design, locomotion, control, and real-world applications 蛇形机器人：对设计、运动、控制和现实世界应用的最新评述

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-10-07 DOI: 10.1016/j.mechatronics.2025.103418

Syed Kumayl Raza Moosavi , Muhammad Hamza Zafar , Filippo Sanfilippo

Snake robots have emerged as a transformative class of bio-inspired robotic systems, offering unparallelled adaptability in navigating complex unstructured terrains. Their limbless design, inspired by biological snakes, enables efficient movement across diverse environments, including rough terrains, confined spaces, and hazardous conditions where traditional wheeled or legged robots struggle. This review provides a comprehensive analysis of the design and development of snake robots, covering their locomotion strategies, mechanical configurations, sensor integration, control schemas, and actuation mechanisms. The review further explores the evolution of mechanical structures from rigid, soft, and hybrid designs, emphasising advancements in actuation and sensor technologies in enhancing adaptability and navigation. Applications of snake robots extend across various domains, including search and rescue (SAR), industrial inspection, and exploration of extreme environments. Despite significant progress, challenges such as optimising energy efficiency, improving environmental perception, and achieving real-time adaptability remain open research areas. This review serves as a foundational reference for researchers and engineers working towards advancing the next generation of snake robots, paving the way for their integration into real-world applications.

蛇形机器人已经成为一种革命性的仿生机器人系统，在导航复杂的非结构化地形方面具有无与伦比的适应性。他们的无肢设计受到生物蛇的启发，能够在各种环境中高效移动，包括崎岖的地形，狭窄的空间，以及传统轮式或腿式机器人难以应对的危险条件。本文综述了蛇形机器人的设计和开发，包括它们的运动策略、机械结构、传感器集成、控制方案和驱动机制。这篇综述进一步探讨了机械结构从刚性、柔性和混合设计的演变，强调了驱动和传感器技术在增强适应性和导航方面的进步。蛇形机器人的应用范围广泛，包括搜索和救援（SAR）、工业检测和极端环境探索。尽管取得了重大进展，但诸如优化能源效率、改善环境感知和实现实时适应性等挑战仍然是开放的研究领域。这篇综述为致力于推进下一代蛇形机器人的研究人员和工程师提供了基础参考，为它们融入现实世界的应用铺平了道路。

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引用次数: 0

Physically feasible dynamic model identification and constrained control of robotic arms: A case study on the ViperX-300 6-DoF robotic manipulator 机械臂物理可行动力学模型辨识与约束控制——以ViperX-300六自由度机械臂为例

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-10-07 DOI: 10.1016/j.mechatronics.2025.103419

Mu’taz A. Momani, Mehdi Hosseinzadeh

The demand for novel robotic applications continues to grow, driven by the need for advanced solutions to complex tasks. These tasks often require the incorporation of dynamic models into the development of control schemes. Consequently, model identification has become a critical step in creating accurate dynamic models for robotic arms. However, the identification process can yield parameters that lack physical significance, resulting in feasibility issues that lead to unrealistic and potentially unstable dynamic models. This challenge is particularly pronounced in small robotic arms, where the dynamics are highly sensitive to parameter variations. To address these challenges, this article presents a systematic and comprehensive approach to the model identification of robotic arms while strictly enforcing physical feasibility. The proposed approach is validated on the ViperX-300 6DoF robotic manipulator, which lacks a pre-existing dynamic model, making it an ideal candidate for testing our method. To further validate the proposed model identification approach and assess the suitability of the obtained model for the ViperX-300 6DoF robotic manipulator in safety-critical applications, we design an explicit reference governor, which is a model-based constrained control strategy. Experimental results show that the identified model achieves sufficient accuracy for safety-critical applications, showcasing the effectiveness of the proposed model identification approach and the reliability of the identified model for the ViperX-300 6DoF robotic manipulator.

由于复杂任务需要先进的解决方案，对新型机器人应用的需求持续增长。这些任务通常需要将动态模型结合到控制方案的开发中。因此，模型识别已成为建立机械臂精确动力学模型的关键步骤。然而，识别过程可能产生缺乏物理意义的参数，从而导致可行性问题，从而导致不现实和潜在不稳定的动态模型。这一挑战在小型机械臂中尤为明显，因为其动力学对参数变化非常敏感。为了解决这些挑战，本文提出了一种系统而全面的方法来识别机器人手臂的模型，同时严格执行物理可行性。该方法在ViperX-300 6DoF机械臂上进行了验证，该机械臂缺乏预先存在的动力学模型，使其成为测试我们方法的理想候选者。为了进一步验证所提出的模型识别方法，并评估所获得的模型在安全关键应用中的适用性，我们设计了一个显式参考调节器，这是一种基于模型的约束控制策略。实验结果表明，所识别的模型在安全关键应用中具有足够的精度，验证了所提模型识别方法的有效性和所识别模型对ViperX-300 6DoF机械臂的可靠性。

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引用次数: 0