具有软驱动器的连续机器人的双闭环自适应位置控制方法
IEEE transactions on cybernetics
|November 21, 2025
概括
带有软驱动器的连续机器人 (CR) 现在可以实现精确的端点位置控制. 一种新的双闭环自适应方法提高了复杂环境中的安全性和适应性.
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
- 软机器人软机器人 软机器人软机器人
背景情况:
- 连续机器人 (CRs) 为复杂的环境提供了出色的可变形性.
- 传统的刚性电机驱动器由于相互作用时的冲击力造成了安全问题.
- 软驱动器,如气动软执行器 (PSA),提供合规的力量,但需要集成控制.
研究的目的:
- 为使用软驱动器的连续机器人开发强大的位置控制方法.
- 为了应对同时控制软驱动器和机器人机身的挑战.
- 在交互式应用中增强CR的安全性和适应性.
主要方法:
- 开发了一款CR车型,具有毫米尺度,长度可变的车身和气动软驱动.
- 使用断片式恒定曲率 (PCC) 方法构建的动力模型.
- 基于三元模型,为软硬盘驱动器衍生出静态模型.
- 提出了一种双闭环自适应位置控制策略,其中一个内环用于软驱动位移,一个外环用于使用非单元快速终端滑动模式控制终点.
主要成果:
- 拟议的双闭环自适应控制方法有效地实现了对CR的终点位置控制.
- 利亚普诺夫稳定性分析证实了终点位置误差的趋同.
- 实验验证证明了控制策略的实际有效性.
结论:
- 双闭环自适应位置控制方法为具有软驱动器的CR提供了安全有效的解决方案.
- 这种方法提高了CR的精度和适应性,为更安全的人机交互铺平了道路.
- 该研究提供了软驱动连续机器人的基本控制框架.
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