南京航空航天大学学报（英文版）2021，Vol.38Issue(3)：361-372,12.
柔性关节机械臂振动抑制/柔顺统一控制
Unified Vibration Suppression and Compliance Control for Flexible Joint Robot
摘要
Abstract
An adaptive control scheme is presented,which can simultaneously realize vibration suppression and compliance control for flexible joint robot(FJR). The proposed control scheme provides a unified formulation for both vibration suppression mode,where FJR tracks the desired position with little vibration,and compliance mode,in which FJR presents passive. Instead of designing multiple controllers and switching between them,both modes are integrated into a single controller,and the transition between two modes is smooth and stable. The stability of the closed-loop system is theoretically proven via the Lyapunov method,with the considering the dynamics uncertainties in both link side and motor side. Simulation results are presented to illustrate good performances of the proposed control scheme.关键词
自适应控制策略/振动抑制/柔顺性/柔性关节机器人/稳定性Key words
adaptive control scheme/vibration suppression/compliance/flexible joint robot(FJR)/stability分类
信息技术与安全科学引用本文复制引用
崔士鹏,孙永军,刘伊威,刘宏..柔性关节机械臂振动抑制/柔顺统一控制[J].南京航空航天大学学报（英文版）,2021,38(3):361-372,12.基金项目
This work was supported by the Na?tional Key R&D Program of China(No.2017YFB1300400)and the National Natural Science Foundation of China(No.51805107). （No.2017YFB1300400）
