机器人2017，Vol.39Issue(4)：458-465,8.DOI:10.13973/j.cnki.robot.2017.0458
用于柔性关节机器人位置控制的幅值饱和非线性状态反馈控制器
Amplitude-Saturated Nonlinear State Feedback Position Control for Flexible Joint Robots
摘要
Abstract
To achieve position control of flexible joint robot (FJR), an amplitude-saturated nonlinear state feedback con-troller (ASNSFC) is designed along with friction compensation. The controller uses only position and velocity of motor side to achieve position control of FJR, and residual vibration can be well suppressed. Specifically, some deficiencies of tradi-tional PD (proportional-differential) controller are analyzed based on FJR's dynamics model. Subsequently, an ASNSFC is designed according to safety requirements in the field of tri-co (coexisting-cooperative-cognitive) robots, and the stability of the proposed closed-loop system is proven theoretically by Lyapunov stability theory. Performance of the proposed ap-proach is evaluated on a self-built FJR platform, and experiment results illustrate that the proposed scheme can achieve better performance, including one-tenth overshoot and half settling time.关键词
柔性关节机器人/位置控制/幅值饱和/非线性控制/共融机器人Key words
flexible joint robot/position control/amplitude-saturated/nonlinear control/tri-co robot分类
信息技术与安全科学引用本文复制引用
尹伟,孙雷,王萌,刘景泰..用于柔性关节机器人位置控制的幅值饱和非线性状态反馈控制器[J].机器人,2017,39(4):458-465,8.基金项目
国家自然科学基金(61573198,61375087). （61573198,61375087）
