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首页> 中文期刊> 《控制理论与应用（英文版）》 >Robust scheme of global parallel force/position regulators for robot manipulators under environment uncertainty

Robust scheme of global parallel force/position regulators for robot manipulators under environment uncertainty

         
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摘要

A simple robust scheme of parallel force/position control is proposed in this paper to deal with two prob- lems for non-planar constraint surface and nonlinear mechanical feature of environment: i) uncertainties in environment that are usually not available or difficult to be determined in most practical situations; ii) stability problem or/and integrator windup due to the integration of force error in the force dominance rule in parallel force/position control. It shows that this robust scheme is a good alternative for anti-windup. In the presence of environment uncertainties, global asymptotic stability of the resulting closed-loop system is guaranteed; it also shows robustness of the proposed controller to uncertain environment with complex characteristics. Finally, numerical simulation verifies results via contact task of a two rigid-links robot manipulator.

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