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首页> 外文会议>7th Biennial Conference on Engineering Systems Design and Analysis 2004(ESDA 2004) vol.1: Advanced Energy Systems; Advanced Heat Transfer in Engineering Systems; ... >IMPEDANCE CONTROL OF A TWO DEGREE-OF-FREEDOM FLEXIBLE LINK MANIPULATOR USING SINGULAR PERTURBATION AND SLIDING MODE CONTROL THEORY
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IMPEDANCE CONTROL OF A TWO DEGREE-OF-FREEDOM FLEXIBLE LINK MANIPULATOR USING SINGULAR PERTURBATION AND SLIDING MODE CONTROL THEORY

机译：基于奇异摄动和滑模控制理论的两自由度柔性链机械手的阻抗控制

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In this article, impedance control of a two link flexible link manipulators is addressed. The concept of impedance control of flexible link robots is rather new and is being addressed for the first time. Impedance Control provides a universal approach to the control of flexible robots - in both constrained and unconstrained maneuvers. The initial part of the paper concerns the use Hamilton's principle to derive the mathematical equations governing the dynamics of joint angles, vibration of the flexible links and the constraining forces. The approximate elastic deformations are then derived by means of the Assumed-Mode-Method (AMM). Using the singular perturbation method, the dynamic of the manipulator is decomposed to the fast and the slow subsystems. The slow dynamic corresponds to the rigid manipulator and fast dynamic is due to vibrations of flexible links. The sliding mode control (SMC) theory has been used as the means to achieve the 2nd order target impedance for the slow dynamics. A controller based on state feedback is also designed to stabilize the fast dynamics. The composite controller is constructed by using the slow and fast controllers. Simulation results for a 2 DOF robot in which only the 2nd link is flexible confirm that the controller performs remarkably well under various simulation conditions.
机译：在本文中，解决了两链柔性链机械手的阻抗控制问题。柔性链接机器人的阻抗控制概念是一个相当新的概念，并首次得到解决。阻抗控制提供了一种通用的方法来控制柔性机器人-无论是受限操作还是非受限操作。本文的初始部分涉及使用汉密尔顿原理来推导控制关节角动力学，柔性链节的振动和约束力的数学方程式。然后借助假定模式方法（AMM）得出近似的弹性变形。使用奇异摄动法，机械手的动力学分解为快速子系统和慢速子系统。慢速动态对应于刚性机械手，而快速动态对应于柔性连杆的振动。滑模控制（SMC）理论已被用作实现慢速动态的二阶目标阻抗的手段。还基于状态反馈设计了控制器来稳定快速动态。通过使用慢速和快速控制器来构造复合控制器。对于仅具有第二条链接的2自由度机器人，其仿真结果证实了该控制器在各种仿真条件下均具有出色的性能。

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