受限柔性机器人臂的鲁棒变结构混合位置/力控制

ROBUST VARIABLE STRUCTURE HYBRID POSITION FORCE CONTROL FOR CONSTRAINED FLEXIBLE LINK MANIPULATORS

针对一类平面双连杆受限柔性机器人臂提出一种混合位置 /力控制方案 ,采用鲁棒变结构控制策略对控制方案进行修正 ,以改善该柔性机器人系统的鲁棒性 ,控制机器人终端执行器的位置和接触力 .通过引入变结构鲁棒控制器 ,可确保输出跟踪误差在有限时间内收敛到零 ,或一致终结有界 .

In this paper, a hybrid position/force control scheme is presented for a class of planar two link constrained flexible manipulators to control the tip position and contact force of the end effector. In order to enhance the controller's robustness, the scheme is revised by introducing a variable structure control strategy, which can guarantee the convergence of the output tracking error in a finite period of time or the uniformly ultimately bounded tracking errors. Computer simulation results show the feasibility and effectiveness of the control scheme.