机器人位置/力混合鲁棒自适应控制

Robust Adaptive Position/Force Hybrid Control for Constrained Robotic Manipulators

提出一种机器人位置/力混合控制的鲁棒自适应算法,利用自适应算法调节机器人系统的未知参数,为了避免在外界干扰作用下引起自适应参数的漂移,在参数自适应律中引入死区,使自适应控制器具有较强的鲁棒性能,滑模控制消除了死区自适应律引起的参数误差,并且具有较强的干扰抑制能力,使机器人末端执行器能够沿环境约束运动,并与约束表面保持期望的接触力,保证了位置和力轨迹跟踪的鲁棒性与精确性。二连杆机器人的仿真分析说明了算法的有效性。

A robust adaptive control strategy was proposed for position/force hybrid control of robotic manipulators. The adaptive law updates the unknown parameters on line and the dead zone is employed to prevent the drifts of the estimated parameters and strengthen the robustness of the adaptive control when the robot system is subjected to external disturbances. The sliding mode control can not only eliminate the drawback of the dead zone adaptive control, but reject the external disturbances effectively. So this control strategy can guarantee the tracking accuracy of the position and force and make the end-effector move along the constraint surface with a desired contact force. Simulation studies of 2-1inks manipulators show the validity of the algorithm.