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离散时间阻抗控制用于平行软机器人的动态响应调节
Ameer Hamza Khan1,2, Shuai Li3
1Smart City Research Institute (SCRI), Hong Kong Polytechnic University, Kowloon, Hong Kong.
Biomimetics (Basel, Switzerland)
|June 26, 2024
概括
这项研究引入了一种新的阻抗控制方法,以减少软机器人的振动. 拟议的控制器有效地抑制不必要的运动,提高机器人的可靠性和准确性在工业环境.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统 控制系统
- 软材料 软材料 软材料
背景情况:
- 软机器人,特别是气动机器人,由于其固有的灵活性,在停机时会出现显著的振动和超速.
- 这些振动降低了精度,增加了沉降时间,并可能损害软机器人的结构完整性.
- 现有的文献缺乏在气动软机器人中抑制振动的足够方法.
研究的目的:
- 开发和验证一个有效的阻抗控制策略来调节气动软机器人的动态响应.
- 解决压制不良振动和过度冲击软机器人的关闭的关键需求.
- 提高软机器人在工业环境中的可靠性和适用性.
主要方法:
- 为高度非线性软机器人系统量身定制的非线性离散滑动模式阻抗控制器的设计.
- 在离散时间内实施,以便在没有国家观察员的情况下有效控制高阶系统模型.
- 使用一个6平行软机器人作为验证的实验平台.
主要成果:
- 提出的离散滑动模式阻抗控制器有效地限制了软机器人中不必要的振动幅度.
- 对比实验表明,在抑制振动方面,与现有的最先进的控制器相比,性能优越.
- 控制器自动计算参数,消除了手动调整的需要,并允许快速嵌入式系统实现.
结论:
- 开发的非线性离散滑动模式阻抗控制器为气动软机器人中抑制振动提供了强大的解决方案.
- 这种方法显著提高了工业应用软机器人的动态控制和可靠性.
- 控制器的自动参数计算和高效实施为软机器人技术中更广泛采用先进的控制策略铺平了道路.
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