面向人机物理交互的谐波传动式模块化机器人系统分散积分滑模控制

Decentralized integral sliding mode control of harmonic drive-based modular robot system for physical-human robot interaction

针对面向人机物理交互任务的谐波传动式模块化机器人系统,提出一种分散积分滑模控制方法。与传统采用既定期望轨迹的方法不同,文中仅利用各机器人关节的位置测量信息,实现了基于主动运动意图辨识的分散积分滑模控制。基于谐波传动柔度模型,揭示了一种人机物理交互人员主动运动意图辨识策略,在此基础上,研究了面向人机物理交互的谐波传动式模块化机器人系统分散积分滑模控制方法,实现高性能的运动意图轨迹跟踪控制。利用李雅普诺夫理论证明了闭环机器人系统的渐近稳定性,实验结果验证了该方法的有效性。

A decentralized integral sliding model control method of harmonic drive-based modular robots under physical human robot interaction is proposed,which is different from the traditional trajector y tracking method that depends on the desired trajectory,in this paper,the decentralized integral sliding model control is implemented by human motion intention estimation via position measurements of each joint module.A novel human motion intention estimation method is developed based on the harmonic drive compliance model,on this basis,the integral sliding model control scheme is presented to achieve high performance of position tracking.The asymptotic stability of modular robot system is proved by the Lyapunov theory.Finally,physical human robot interaction experiments confirm the effectiveness and advancement of the proposed method.