基于反步法的多机械臂系统力/位混合控制

Force/Position Control of Multi-manipulator System Based on Backstepping Method

该文研究了具有未建模动态和未知扰动的多机械臂系统力/位混合控制问题。首先,通过建立合适的坐标系构建多机械臂系统的动力学模型,并根据内力的性质来实现对力的控制;其次,采用反步法设计适用于多机械臂系统的模糊自适应力/位控制方案;最后,采用反步模糊的力/位控制方法保证闭环系统的所有信号均有界,并且使物体的位置跟踪误差和系统的内力误差收敛到原点周围极小的邻域内。该研究具有一定的实际应用价值。

In this paper,the force/position hybrid control of the multi-manipulator system with unknown disturbances and unmodeled dynamics is studied.Firstly,the kinematics model of the multi-manipulator system is constructed by defining appropriate coordinate variations,and the force control problem is added into the model according to the nature of internal force.Then,the backstepping method is used to design the fuzzy adaptive force/position control scheme for the multi-manipulator system.Finally,it is proved that all signals of the closed-loop system are bounded by using backstepping fuzzy force/position control method.Moreover,tracking errors of both positions and internal forces can converge to small desired values by selecting proper design parameters.The research has certain practical application value.