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Influence of the manipulator dynamic properties on the design of a force-position controller

机译：机械手动态特性对力位置控制器设计的影响

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Assuming a pure elastic environment and a contact force acting only along the normal direction to the undeformed environment surface, the influence of the working parameters of a 2 DOF planar manipulator to the dynamic behaviour of the system is well investigated. The proposed analysis suggests the implementation of a hybrid force-position control and the design of a nonlinear state feedback controller in which the gains change as a function of both the manipulator and the environment configurations. In this way a continuous gain scheduling is carried out: depending on the movement and on the environment interaction each gain is evaluated from a continuous polynomial expression that interpolates the offline evaluation of them, defined with the pole-placement method, for a set of discrete possible working conditions in a linearized manipulator model.

机译：假设纯弹性环境和仅沿垂直于未变形环境表面的法向方向作用的接触力，则很好地研究了2自由度平面机械手的工作参数对系统动态行为的影响。提出的分析建议实施混合力位置控制，并设计非线性状态反馈控制器，其中增益随机械手和环境配置的变化而变化。以这种方式执行连续的增益调度：根据运动和环境的相互作用，从连续多项式表达式评估每个增益，该表达式将极点放置方法定义的连续多项式的内插值插值为一组离散线性机械手模型中可能的工作条件。

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《Mechatronics, 2009. ICM 2009》|2009年|1-6|共6页
会议地点 Malaga(ES);Malaga(ES)
作者
Righettini P.; Chatterton S.;
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作者单位

Dept. of Technol. Design, Univ. degli Studi di Bergamo, Dalmine;

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control system synthesis; force control; interpolation; linearisation techniques; manipulator dynamics; nonlinear control systems; pole assignment; polynomials; position control; scheduling; state feedback; 2 DOF planar manipulator dynamics; continuous gain scheduling; continuous polynomial expression; elastic environment; force-position controller design; linearized manipulator model; nonlinear state feedback controller; pole-placement method;

机译：控制系统综合;力控制;插值;线性化技术;机械臂动力学;非线性控制系统;极点分配;多项式;位置控制;调度;状态反馈; 2自由度平面机械臂动力学;连续增益调度;连续多项式表达;弹性环境;力位置控制器设计；线性机械手模型；非线性状态反馈控制器；极点放置方法;

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4. Influence of the Manipulator Dynamic Properties on the Design of a Force-Position Controller [C] . Paolo Righettini, Steven Chatterton IEEE International Conference on Mechatronics . 2009

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Influence of the manipulator dynamic properties on the design of a force-position controller

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