SUMMARYThis paper proposes an adaptive robust impedance control for a single-link flexible arm when it encounters an environment at an unknown intermediate point. First, the intermediate collision point is estimated using a collision detection algorithm. The controller, then, switches from free to constrained motion mode. In the unconstrained motion mode, the exerted force to environment is nearly zero. Thus, the reference trajectory is a prescribed desired trajectory in position control. In the constrained motion mode, the reference trajectory is determined by the desired target dynamic impedance. The simulation results demonstrate the efficiency of proposed control scheme.

中文翻译：

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未知中间点与环境交互的单连杆柔性机械手的自适应滑模阻抗控制

摘要本文提出了一种单连杆柔性臂在未知中间点遇到环境时的自适应鲁棒阻抗控制。首先，使用碰撞检测算法估计中间碰撞点。然后，控制器从自由运动模式切换到约束运动模式。在无约束运动模式下，对环境施加的力几乎为零。因此，基准轨迹是位置控制中规定的期望轨迹。在约束运动模式下，参考轨迹由所需的目标动态阻抗确定。仿真结果证明了所提出的控制方案的有效性。