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首页> 外文期刊>Journal of robotic systems >Sliding Mode Force, Motion Control, and Stabilization of Elastic Manipulator in the Presence of Uncertainties
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Sliding Mode Force, Motion Control, and Stabilization of Elastic Manipulator in the Presence of Uncertainties

机译：存在不确定性时的滑模力，运动控制和弹性机械手的稳定性

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This article considers the question of position and force control of three-link elastic robotic systems on a constraint surface in the presence of robot parameter and environmental constraint geometry uncertainties. The approach of this article is applicable to any multi-link elastic robot. A sliding mode control law is derived for the position and force trajectory control of manipulator. Unlike the rigid robots, sliding mode control of an end point gives rise to unstable zero dynamics. Instability of the zero dynamics is avoided by controlling a point that lies in the neighborhood of the actual end point position. The sliding mode controller accomplishes tracking of the end-effector and force trajectories on the constrained surface; however, the maneuver of the arm causes elastic mode excitation. For point-to-point control on the constraint surface, a stabilizer is designed for the final capture of the terminal state and vibration suppression. Numerical results are presented to show that in the closed-loop system position and force control is accomplished in spite of payload and constraint surface geometry uncertainty.
机译：本文考虑了在存在机器人参数和环境约束几何不确定性的情况下约束表面上的三连杆弹性机器人系统的位置和力控制问题。本文的方法适用于任何多链接弹性机器人。推导了滑模控制律，用于机械手的位置和力轨迹控制。与刚性机器人不同，端点的滑动模式控制会导致不稳定的零动态。通过控制位于实际终点位置附近的点，可以避免零动力学的不稳定性。滑模控制器完成对受约束表面上的末端执行器和力轨迹的跟踪。但是，手臂的动作会引起弹性模式的激发。为了在约束面上进行点对点控制，设计了一种稳定器，用于最终捕获终端状态并抑制振动。数值结果表明，尽管负载和约束表面几何形状不确定，但在闭环系统中仍可实现位置和力控制。

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