Robust Variable Structure Hybrid Position Force Control for Constrained Flexible-Link Manipulators
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摘要: 针对一类平面双连杆受限柔性机器人臂提出一种混合位置/力控制方案,采用鲁棒变 结构控制策略对控制方案进行修正,以改善该柔性机器人系统的鲁棒性,控制机器人终端执行 器的位置和接触力.通过引入变结构鲁棒控制器,可确保输出跟踪误差在有限时间内收敛到零, 或一致终结有界.计算机仿真结果证明了这种控制方案的可行性和有效性.Abstract: In this paper, a hybrid position/force control scheme is presented for a class of planar two-link constrained flexible manipulators to control the tip position and contact force of the end-effector. In order to enhance the controller's robustness, the scheme is revised by introducing a variable structure control strategy, which can guarantee the convergence of the output tracking error in a finite period of time or the uniformly ultimately bounded tracking errors. Computer simulation results show the feasibility and effectiveness of the control scheme.
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