机器人机械臂动态位置/力混合控制——控制器设计与实验

T. Yoshikawa, T. Sugie, Masaki Tanaka
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引用次数: 160

摘要

提出了一种用于机器人机械臂动态位置/力混合控制的控制器设计方法,并给出了初步的实验结果。动态混合控制是M.H. Raibert和J.J. Craig(1981)提出的一种方法的扩展,该方法考虑了机械臂的全部动力学,并且末端执行器的约束由约束超曲面明确给出。这种设计方法包括两个步骤。第一步是利用非线性状态反馈对机械臂动力学进行线性化。用约束超曲面来表述约束对线性化规律的建立起着至关重要的作用。第二步是利用二自由度伺服控制器的概念设计线性化模型的位置和力控制器。该伺服控制器的优点是既考虑了命令响应,又考虑了控制器对建模误差和干扰的鲁棒性。在SCARA机器人上的初步实验表明了该方法的有效性。>
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Dynamic hybrid position/force control of robot manipulators-controller design and experiment
An approach to designing controllers for dynamic hybrid position/force control of robot manipulators is presented, and preliminary experimental results are given. Dynamic hybrid control is an extension of an approach proposed by M.H. Raibert and J.J. Craig (1981) to the case where the full manipulator dynamics is taken into consideration and the end-effector constraint is explicitly given by the constraint hypersurfaces. This design method consists of two steps. The first step is the linearization of the manipulator dynamics by nonlinear state feedback. Formulation of the constraint by the constraint hypersurfaces plays an essential role in establishing the linearizing law. The second step is the design of position and force controllers for the linearized model using the concept of two-degrees-of-freedom servocontroller. The merit of this servocontroller is that it can take account of both the command response and the robustness of the controllers to modeling errors and disturbances. Preliminary experiments using a SCARA robot show the validity of the approach. >
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