In this manuscript, a new hybrid force/position control approach has been proposed for time-varying constrained reconfigurable manipulators. In order to design the controller, firstly a reduced-order dynamic model of time-varying constrained manipulator system is presented. The uncertainties in the dynamical model of the system are inevitable; therefore the model-based control approach is inadequate to handle these systems. Therefore, inspired by this consideration, whatsoever partial information is available about the dynamics of the system, have been used for controller design purpose. The model-dependent control scheme is integrated with the neural network-based model-free control scheme. Radial basis function neural network is used for the estimation of the unknown dynamics of the system. Next, to overcome the aftereffects of the friction terms and neural network reconstruction error, an adaptive compensator is added to the part of the controller. For the stability analysis of the presented control scheme, the Lyapunov theorem and Barbalat’s lemma are utilized. The designed control scheme guarantees that tracking errors of the joints and the force tracking error remain inside the desired levels and the joint tracking errors converge to zero asymptotically. Finally, comparative computer simulations show the superiority and the applicability of the developed control method applied over a 2-DOF time-varying constrained reconfigurable manipulator.

在此手稿中，提出了一种针对时变约束可重构机械手的新型混合力/位置控制方法。为了设计控制器，首先提出了时变约束机械手系统的降阶动力学模型。系统动力学模型中的不确定性是不可避免的。因此，基于模型的控制方法不足以处理这些系统。因此，受此考虑的启发，关于系统动力学的部分可用信息已用于控制器设计。模型相关的控制方案与基于神经网络的无模型控制方案集成在一起。径向基函数神经网络用于估计系统的未知动力学。下一个，为了克服摩擦项和神经网络重构误差的后效应，将自适应补偿器添加到控制器的一部分。为了对所提出的控制方案进行稳定性分析，利用了Lyapunov定理和Barbalat引理。设计的控制方案可确保关节的跟踪误差和力的跟踪误差保持在所需的水平之内，并且关节的跟踪误差渐近收敛于零。最后，比较计算机仿真显示了所开发的控制方法在2-DOF时变约束可重构机械手上的优越性和适用性。利用李雅普诺夫定理和巴尔巴拉特引理。设计的控制方案可确保关节的跟踪误差和力的跟踪误差保持在所需的水平之内，并且关节的跟踪误差渐近收敛于零。最后，比较计算机仿真显示了所开发的控制方法在2-DOF时变约束可重构机械手上的优越性和适用性。利用李雅普诺夫定理和巴尔巴拉特引理。设计的控制方案可确保关节的跟踪误差和力的跟踪误差保持在所需的水平之内，并且关节的跟踪误差渐近收敛于零。最后，比较计算机仿真显示了所开发的控制方法在2-DOF时变约束可重构机械手上的优越性和适用性。