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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >A Passivity-Based Nonlinear Admittance Control With Application to Powered Upper-Limb Control Under Unknown Environmental Interactions
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A Passivity-Based Nonlinear Admittance Control With Application to Powered Upper-Limb Control Under Unknown Environmental Interactions

机译：基于无源性的非线性导纳控制及其在未知环境相互作用下的电动上肢控制中的应用

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摘要

This paper presents an admittance controller based on the passivity theory for a powered upper-limb exoskeleton robot, which is governed by the nonlinear equation of motion. Passivity allows us to include a human operator and environmental interaction in the control loop. The robot interacts with the human operator via force/torque (F/T) sensor and interacts with the environment mainly via end-effectors. Although the environmental interaction cannot be detected by any sensors (hence unknown), passivity allows us to have natural interaction. An analysis shows that the behavior of the actual system mimics that of a nominal model as the control gain goes to infinity, which implies that the proposed approach is an admittance controller. However, because the control gain cannot grow infinitely in practice, the performance limitation according to the achievable control gain is also analyzed. The result of this analysis indicates that the performance in the sense of infinite norm increases linearly with the control gain. In the experiments, the proposed properties were verified using 1-DoF testbench, and an actual powered upper-limb exoskeleton was used to lift and maneuver the unknown payload.
机译：本文提出了一种基于无源理论的动力上肢外骨骼机器人的导纳控制器，该控制器由非线性运动方程控制。被动性使我们可以在控制回路中包括人工操作员和环境交互作用。机器人通过力/扭矩（F / T）传感器与操作员互动，并主要通过末端执行器与环境互动。尽管任何传感器都无法检测到环境相互作用（因此未知），但是被动性使我们能够进行自然相互作用。分析表明，当控制增益达到无穷大时，实际系统的行为与标称模型的行为相似，这表明所提出的方法是一种导纳控制器。然而，由于控制增益在实践中不能无限地增长，因此还分析了根据可获得的控制增益的性能限制。分析结果表明，无限范式下的性能随控制增益线性增加。在实验中，使用1-DoF测试台验证了建议的性能，并使用了实际的动力上肢外骨骼来举升和操纵未知有效载荷。

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