脱的强大的后退跟踪控制器可变刚度驱动的机器人与输入和输入和
Chen Ji1, Zhongqiang Zhang2, Guanggui Cheng2
1School of Mechanical Engineering, Jiangsu University, Zhenjiang 212013, China; State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150000, China; Institute of Intelligent Flexible Mechatronics, Jiangsu University, Zhenjiang 212013, China.
ISA transactions
|November 7, 2024
概括
这项研究介绍了可变刚度执行器的强大的控制器,提高了机器人的能源效率. 这种新的方法可确保精确控制位置和刚度,即使有动态变化和干扰.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统工程 控制系统工程
- 机械工程 机械工程
背景情况:
- 可变刚度执行器 (VSA) 对于机器人能源效率至关重要,因为它们具有储能能力.
- 控制VSA的非线性和合动态,特别是在快速变化的度方面,存在重大挑战.
- 由于弹性元素的限制,执行器扭矩和会对控制性能产生负面影响.
研究的目的:
- 开发可分离和强大的控制器,用于在可变硬度驱动的机器人中精确的位置和硬度跟踪.
- 解决与高度动态的刚性变化和系统非线性相关的挑战.
- 通过先进的控制策略,提高机器人系统的能源效率和性能.
主要方法:
- 拟议的脱和强大的命令过后退跟踪控制器的位置和刚性.
- 引入了一个干扰观察员来估计来自未建模的动态和错误的块干扰.
- 集成的反轮补偿,以减轻输入控制扭矩和的影响.
主要成果:
- 复合控制器,集成指令过后退,干扰观察员和反倒闭,确保系统稳定性.
- 通过模拟,证明了多度自由度 (多DoF) 可变刚度驱动机器人的有效跟踪控制性能.
- 提出的方法有效地处理合的非线性和动态刚度变化.
结论:
- 开发的复合控制策略为控制可变刚度执行器提供了稳定和强大的解决方案.
- 这种方法显著提高了复杂机器人系统中位置和刚度的跟踪精度.
- 这项工作有助于通过先进的VSA控制来实现机器人中类似人类的能源效率.
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