摘要
为了提高人与机械臂交互系统的安全性与柔顺性,提出了一种基于有限时间命令滤波机械臂的模糊自适应阻抗控制方法。通过阻抗控制技术实现机械臂力/位控制;采用模糊自适应技术逼近机械臂系统中的未建模动态;利用有限时间命令滤波控制提高机械臂力/位控制的响应速度,减小了跟踪误差。仿真结果表明,所提控制方法与现有控制方法相比,机械臂力/位跟踪曲线有着更快的响应速度、更小的跟踪误差。
In order to improve the safety and compliance of the human and robotic arm interaction system,an fuzzy adaptive impedance control method of robotic manipulator based on finite-time command filtered is proposed.The manipulator force/position control is achieved by impedance control technology;the unmodeled dynamics in the robotic manipulator system is approximated by fuzzy adaptive technology;the finite-time command filtered control is used to improve the response speed of the manipulator force/position control,and to reduce the tracking error.The simulation results show that the proposed control method has a faster response speed and smaller tracking error than the existing control methods.
作者
林高荣
刘加朋
于金鹏
LIN Gao-rong;LIU Jia-peng;YU Jin-peng(School of Automation,Qingdao University,Qingdao 266071,China)
出处
《自动化与仪表》
2020年第10期35-42,共8页
Automation & Instrumentation
基金
国家重点研发计划项目(2017YFB1303503)
国家自然基金项目(61573204)
泰山学者工程专项经费资助项目(TSQN20161026)。
关键词
机械臂系统
阻抗控制
模糊自适应控制
有限时间控制
命令滤波控制
robotic manipulator system
impedance control
fuzzy adaptive control
finite-time control
command filtered control
