控制理论与应用2017，Vol.34Issue(9)：1208-1214,7.DOI:10.7641/CTA.2017.60931
具有时滞的柔性关节多机械臂协同自适应位置/力控制
Adaptive position/force control for coordinated multiple flexible-joint manipulators with time delay
摘要
Abstract
The gear clearance will expand due to the long running joint manipulators.Time delay results from the clear-ance,which also has influence on system tracking performance. To solve this problem,an adaptive position/force control strategy is proposed to guarantee the stability of the closed-loop system and tracking performance of the position/force. Firstly, the task space dynamic model for the system is given in this paper. Then the time delay is approximated as a second-order rational fraction by Pade theorem. Secondly,consider the model uncertainties,by utilizing a sliding mode consisting of position error and force error,a neural network adaptive controller is proposed.The control strategy can drive the closed-loop system states to reach the adopted sliding model surface and then both position and force errors can be guaranteed to converge zero.Finally,simulation results are presented to validate the proposed method.关键词
协同机械臂/柔性关节/时滞/位置/力控制/神经网络控制/滑模控制Key words
coordinated multiple manipulators/flexible joint/time delay/position/force control/neural network control/sliding mode control分类
信息技术与安全科学引用本文复制引用
李树荣,尹怀强..具有时滞的柔性关节多机械臂协同自适应位置/力控制[J].控制理论与应用,2017,34(9):1208-1214,7.基金项目
国家自然科学基金项目(61573378)资助.Supported by National Natural Science Foundation of China(61573378). （61573378）
