当前位置: X-MOL 学术Asian J. Control › 论文详情
Our official English website, www.x-mol.net, welcomes your feedback! (Note: you will need to create a separate account there.)
A generalized adaptive stiffness control scheme for robot manipulators with bounded inputs
Asian Journal of Control ( IF 2.4 ) Pub Date : 2020-08-17 , DOI: 10.1002/asjc.2393
Berenice Maldonado‐Fregoso 1 , Marco Mendoza‐Gutierrez 1 , Isela Bonilla‐Gutierrez 1 , Carlos Vidrios‐Serrano 1
Affiliation  

In general, indirect force control schemes (stiffness, impedance, etc.) assume that robot actuators can provide any torque value to achieve the goal of interaction control. This study attempts to regulate robot–environment interaction by generating bounded control signals and to avoid accurate knowledge of the parameters associated with gravitational effects and the stiffness of the environment. To achieve this aim, a generalized and saturating adaptive stiffness control scheme in task-space is proposed. For the purpose of this work, the interaction or contact between the end-effector of a robot manipulator and the environment is modeled as a vector of bounded spring-like forces. The proposed control approach has a proportional-derivative structure with static model-based compensation of gravitational and interaction forces, which it achieves by including a regressor-based adaptive term. As a theoretical basis to support the proposal, Lyapunov's stability analysis of the closed-loop equilibrium vector is presented. Finally, the suitability of the proposed stiffness control scheme for interaction tasks is verified through simulations and experimental tests by using three-degree-of-freedom robotic arms.

中文翻译:

具有有界输入的机器人机械手的广义自适应刚度控制方案

一般来说,间接力控制方案(刚度、阻抗等)假设机器人执行器可以提供任何扭矩值来实现交互控制的目标。本研究试图通过生成有界控制信号来调节机器人与环境的相互作用,并避免准确了解与重力效应和环境刚度相关的参数。为了实现这一目标,提出了一种任务空间中的广义和饱和自适应刚度控制方案。出于这项工作的目的,机器人机械手的末端执行器与环境之间的相互作用或接触被建模为一个有界弹簧状力的向量。所提出的控制方法具有比例微分结构,具有基于静态模型的重力和相互作用力补偿,它通过包含基于回归量的自适应项来实现。作为支持该提议的理论基础,Lyapunov 对闭环平衡向量的稳定性分析被提出。最后,通过使用三自由度机械臂的模拟和实验测试验证了所提出的刚度控制方案对交互任务的适用性。
更新日期:2020-08-17
down
wechat
bug