灵活的机器人操纵器的统一的力量和运动适应-整体控制
Carlos R de Cos1, José Ángel Acosta2
1MathWorks AB, 164 40, Kista, Sweden.
ISA transactions
|February 7, 2025
概括
本研究介绍了灵活关节操纵器的自适应控制策略,在接触和非接触情况下实现无运动和力控制,无需切换控制器. 该方法确保了稳定性,并通过低成本硬件进行实验验证.
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
- 机械电子学是什么意思 机械电子学
背景情况:
- 具有灵活关节的操纵器在实现精确的运动和力控制方面存在挑战,特别是在涉及接触和非接触任务的场景中.
- 现有的控制策略通常需要不同的模式或切换机制,用于不同的任务阶段,使实施复杂化,并可能损害性能.
研究的目的:
- 为具有灵活关节的操纵器制定统一的适应性非线性控制策略.
- 在不需要明确控制模式切换的情况下,实现运动控制 (非接触式) 和力控制 (接触式) 之间的无过渡.
- 为了确保对操纵器灵活性和不同接触硬度的坚固性.
主要方法:
- 一个统一的配方集成的力量和运动控制,使用一个完整的转换基于反向动力学核心.
- 适应性更新法律旨在弥补操纵器灵活性和接触度的不确定性.
- 利亚普诺夫分析以保证信号的全球界限性和闭环系统的非对称稳定性.
主要成果:
- 拟议的自适应策略成功地在混合接触/非接触场景中提供了强大的运动控制和精确的力控制.
- 使用低成本硬件的实验验证证明了控制器在现实的混合接触任务中的有效性.
- 该方法具有较低的计算需求,使其适合实际实施.
结论:
- 开发的自适应非线性控制策略为在混合接触和非接触环境中控制具有灵活关节的操纵器提供了统一和强大的解决方案.
- 自调功能消除了控制切换的需要,简化了系统设计和提高了性能.
- 实验结果证实了拟议方法的实际适用性和效率.
相关概念视频
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