受限柔性机器人臂的鲁棒变结构混合位置/力控制

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.计算机仿真结果证明了这种控制方案的可行性和有效性.     

平面双连杆受限柔性机器人臂的自适应模糊力/位置控制

本文对一类平面双连杆受限柔性机器人的力／位置控制问题进行研究,提出了一种新的自适应模糊控制方案．利用结构分解技术对模糊推理系统进行简化,用梯度法对参数进行自适应调整,从而实现对受限柔性机器人系统末端的混合力／位置控制．计算机仿真结果表明,本文提出的控制方案是合理、有效的     

平面双连杆受限柔性机器人臂的自适应模糊力/位置控制

本文对一类平面双连杆受限柔性机器人的力/位置控制问题进行研究,提出了一种 新的自适应模糊控制方案．利用结构分解技术对模糊推理系统进行简化,用梯度法对参数进 行自适应调整,从而实现对受限柔性机器人系统末端的混合力/位置控制．计算机仿真结果 表明,本文提出的控制方案是合理、有效的．     

受限机器人神经形态的变结构位置/力控制

本文基于Ｊｅａｎ和Ｆｕ（１９９３）建立的受限机器人模型的降型阶形式，利用变结构系统理论，设计了具有未知动态的受限机器人轨道／力追踪控制，提出的学习方法仅仅利用了机器人动态模型的一般结构，不需要其精确信息，计算迅速，易于实现，仿真结果验证了提出的方法的有效性。     

平面双连杆受限柔性机器人臂的动力学建模*

对一类平面双连杆受限柔性机器人臂的动力学建模问题进行研究，利用Ｄ’Ａｌｅｍｂｅｒｔ－Ｌａｇｒａｎｇｅ原理得到了一组描述该机器人系统运动性态的动力学方程。与已有的动力学模型相比，本文所建立的运动方程和振动方程具有模型准确、结构简单等特点，且具有与传统无约束刚性机器人类似的模型形式，因而有可能直接或间接利用现有的关于刚性机器人运动控制等方面的成果来研究复杂的受限柔性机器人的控制问题。     

柔性机器人的控制

柔性机器人的控制周其节，徐建闽（华南理工大学自动控制系·广州，５１０６４１）一些应用领域要求机器人耗能低、快速和重量小，因而机构要设计得轻巧．如果对机器人运动的性能要求较高，则在设计控制器时必须考虑机械在运动中的弹性变形．近年来柔性机器人的控制问题已...     

柔性机器人的动力学建模及其控制*

本文首先综述了近年来在柔性机器人动力学建模方面所取得的进展，着重介绍了目前较常见的几种建模方法和模型，同时对柔性机器人的控制问题进行了评述，指出了今后研究的方向。     

受限柔性机器人基于遗传算法的自适应模糊控制

研究一类平面双连杆受限柔性机器人的混合位置/力控制问题,提出一种自适应模糊逻辑控制方案,利用遗传学习算法对控制器中的参数进行学习和修正,达到提高系统控制精度、改善系统鲁棒性的目的.计算机仿真结果表明这种控制器设计方案具有很好的特性.     

柔性关节机器人非线性解耦控制

本文提出了一种柔性关节机器人模型的非线性解耦控制规律，并给出了全局线性化系统的变换方程。     

基于控制受限的机器人鲁棒自适应位置调节

针对实际的控制系统中输入为有界的情况,研究了机器人系统存在未知参数以及外界干扰时的位置调节问题.基于李雅普诺夫稳定性理论,通过构造存储函数的过程中引入双曲正切函数向量和适当的辅助函数向量,提出了一种有界的鲁棒自适应控制器.所提出的控制器不仅保证了闭环系统的鲁棒稳定性,同时也满足了从干扰信号到跟踪误差评价信号所定义的增益性能指标,即保证了干扰抑制的有效性.最后,由两连杆机器人进行的仿真结果验证了该控制器的可行性.     

On the Robust Nonlinear Motion Position and Force Control of Flexible Joints Robot Manipulators

The design of a robust nonlinear position and force controller for a flexible joints robot manipulator interacting with a rigid environment is presented. The controller is designed using the concept of feedback linearization, sliding mode techniques, and LQE estimation methodologies. It is shown that the nonlinear robot manipulator model is feedback linearizable. A robust performance of the proposed control approach is achieved by accounting for the system parameters uncertainties in the derivation of the nonlinear control law. An upper bound of the error introduced by parametric uncertainties in the system is computed. Then, the feedback linearizing control law is modified by adding a switching action to compensate the errors and to guarantee the achievement of the desired tracking performance. The relationship between the minimum achievable boundary layer thickness and the parametric uncertainties is derived. The proposed controller is tested using an experimental flexible joints robot manipulator, and the results demonstrate its potential benefits in reducing the number of sensors required and the complexity of the design. This is achieved by eliminating the need for nonlinear observers. A robust performance is obtained with minimum control effort by taking into account the effect of system parameter uncertainties and measurement noise.     

一种关于移动机器人的自适应变结构控制方法

基于具有m个输入、至多m＋2个状态变量的可控无漂移系统为微分平面系统这样一个事实,通过动态扩展原理和自适应控制技术,本文提出了一种针对三轮移动机器人轨迹跟踪问题的鲁棒自适应控制方法,应用动态扩展原理首先对三轮移动机器人的运动模型实现了精确线性化,设计变结构控制时采用了边界层内插方法和在线参数估计以削弱控制抖动,仿真结果表明该方法优于一般的变结构控制。     

A Flexible Control Architecture for Mobile Robots: An Application for a Walking Robot

To get the best features of both deliberative and reactive controllers, present mobile robot control architectures are designed to accommodate both types of controller. However, these architectures are still very rigidly structured thus deliberative modules are always assigned to the same role as a high-level planner or sequencer while low-level reactive modules are still the ones directly interacting with the robot environment. Furthermore, within these architectures communication and interface between modules are if not strongly established, they are very complex thus making them unsuitable for simple robotic systems. Our idea in this paper is to present a control architecture that is flexible in the sense that it can easily integrate both reactive and deliberative modules but not necessarily restricting the role of each type of controller. Communication between modules is through simple arbitration schemes while interface is by connecting a common communication line between modules and simple read and/or write access of data objects. On top of these features, the proposed control architecture is scalable and exhibits graceful degradation when some of the modules fail, similar to the present mobile robot architectures. Our idea has enabled our four-legged robot to walk autonomously in a structured uneven terrain.     

Active Vibration Control of Flexible Robots Using Virtual Spring-damper Systems

When using robots for heavy loads and huge operating ranges, elastic deformations of the links have to be taken into account during modeling and controller design. Whereas for conventional rigid multilink industrial robots modeling can schematically be done by standard techniques, it is a massive problem to obtain an accurate analytic model for multilink flexible robots. But an accurate analytic model is essential for most modern controller design techniques, and modeling errors can lead to instability of the controlled system due to spillover since the eigenvalues of the system are only slightly damped. A new approach to active damping control for flexible robots is presented in this paper where the actuators act like virtual spring-damper-systems. As the spring-damper-element is a passive energy dissipative device, it will never destabilize the system and thus the control concept will be very insensitive to modeling errors. Basically, the two parameters, spring stiffness and damping constant of this system, are arbitrary and model independent. To satisfy performance requirements they are adjusted using knowledge of the system model. The more it is known about the system model, the better these parameters may be adjusted. The new input of the controlled system is a virtual variation of the spring base. The paper illustrates this technique with the help of a simple and easy to model one link flexible robot which is also available as a real laboratory testbed.     

大型空间结构的动态输出变结构控制*

本文研究大型柔性空间结构作单轴大角度操纵时的状态估计及变结构控制方法。建立指数律的状态观测器实现了以较少传感器估计系统弹性振动模态的目的。利用状态观测器状态及系统输出变量反馈方法设计了大型空间结构的动态输出变结构控制律,针对一个实际模型仿真计算,得到了满意的结果。     

一类轮式机器人的重心控制

介绍了一类建筑领域等非结构环境下使用的由6个转动关节和4个直动关节组成的轮式机器人,其特殊的结构加上重心控制,能使机器人在不平整地面上行走而不倾倒。绘制了机器人重心控制原理,推导出使机器人不倾倒的重心控制运动方程。给出了实验用的部分软硬件原理框图,并通过实验验证了方案的可行性。     

Neural Network Force Control for Industrial Robots

In this paper, we present a hierarchical force control framework consisting of a high level control system based on neural network and the existing motion control system of a manipulator in the low level. Inputs of the neural network are the contact force error and estimated stiffness of the contacted environment. The output of the neural network is the position command for the position controller of industrial robots. A MITSUBISHI MELFA RV-M1 industrial robot equipped with a BL Force/Torque sensor is utilized for implementing the hierarchical neural network force control system. Successful experiments for various contact motions are carried out. Additionally, the proposed neural network force controller together with the master/slave control method are used in dual-industrial robot systems. Successful experiments are carried out for the dual-robot system handling an object.     

机械臂的位置与力的混合控制方法

本文研究关于机械臂的位置与力的混合控制方法.为了实现混合控制,首先应用一对被称为"任务规范投影算子"建立了机械臂混合控制的动态方程.在此基础上,提出了两种控制器的设计方法,一种是计算力矩方法控制器,另一种是动态补偿变结构控制器.后者不但具有更好的鲁棒性,并且可以分别调整运动与约束力的跟踪精度.     

Hybrid Control Scheme for Robust Tracking of Two-Link Flexible Manipulator

The hybrid control scheme is proposed to stabilize the vibration of a two-link flexible manipulator while the robustness of Variable Structure Control (VSC) developed for rigid manipulators is maintained for controlling the joint angles. The VSC law alone, which is designed to accomplish only the asymptotic decoupled joint angle trajectory tracking, does not guarantee the stability of the flexible mode dynamics of the links. In order to actively suppress the flexible link vibrations, hybrid trajectories for the VSC are generated using the virtual control force concept, so that robust tracking control of the flexible-link manipulator can also be accomplished. Simulation results confirm that the proposed hybrid control scheme can achieve more robust tracking control of two-link flexible manipulator than the conventional control scheme in the presence of payload uncertainty.     

Hybrid Control Scheme for Robust Tracking of Two-Link Flexible Manipulator

A hybrid control scheme is proposed to stabilize the vibration of a two-link flexible manipulator while robustness of Variable Structure Control (VSC) developed for rigid manipulators is maintained for controlling the joint angles. The VSC law alone, which is designed to accomplish only the asymptotic decoupled joint angle trajectory tracking, does not guarantee the stability of the flexible mode dynamics of the links. In order to actively suppress the flexible link vibrations, hybrid trajectories for the VSC are generated using the virtual control force concept, so that robust tracking control of the flexible-link manipulator can also be accomplished. Simulation results confirm that the proposed hybrid control scheme can achieve more robust tracking control of two-link flexible manipulator than the conventional control scheme in the presence of payload uncertainty.