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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Robust Control of Robot Manipulators Using Inclusive and Enhanced Time Delay Control
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Robust Control of Robot Manipulators Using Inclusive and Enhanced Time Delay Control

机译：使用包容性和增强的时延控制对机器人机械手进行鲁棒控制

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摘要

Thanks to its simplicity and robustness, time delay control (TDC) has been recognized as a simple and yet effective alternative to robot model-based controls and/or intelligent controls. An inclusive and enhanced formulation of TDC for robust control of robot manipulators is presented in this paper. The proposed formulation consists of three intuitive terms: 1) time delay estimation (TDE), inherited from the original TDC, for cancellation of mostly continuous nonlinearities; 2) nonlinear desired error dynamics (DED) (i.e., a “mass”–“nonlinear damper”– “nonlinear spring” system) injection term; and 3) a TDE error correction term based on a nonlinear sliding surface. The proposed TDC formulation has an inclusive structure. Depending on the gain/parameter set chosen, the proposed formulation can become Hsia's formulation, Jin's formulations including a type of terminal sliding mode control (SMC), an SMC with a switching signum function, or a novel enhanced formulation. Experimental comparisons were made using a programmable universal manipulator for assembly-type robot manipulator with various parameter sets for the proposed control. Among them, the highest position tracking accuracy was obtained by using a terminal sliding DED with a terminal sliding correction term.
机译：由于其简单性和鲁棒性，时间延迟控制（TDC）已被公认为是基于机器人模型的控制和/或智能控制的一种简单而有效的替代方法。本文介绍了TDC的包容性和增强形式，用于机器人机械手的鲁棒控制。所提出的公式由三个直观术语组成：1）从原始TDC继承的时间延迟估计（TDE），用于消除大部分连续的非线性； 2）非线性期望误差动力学（DED）（即“质量”-“非线性阻尼器”-“非线性弹簧”系统）注入项； 3）基于非线性滑动面的TDE误差校正项。拟议的贸发局的提法具有包容性结构。根据所选的增益/参数集，建议的公式可以成为Hsia的公式，Jin的公式，包括一种终端滑模控制（SMC），具有切换信号功能的SMC或新颖的增强公式。使用可编程通用机械手对装配型机器人机械手进行了实验比较，该机械手具有针对所建议控制的各种参数集。其中，通过使用具有终端滑动校正项的终端滑动DED获得最高的位置跟踪精度。

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  • 来源
    《IEEE / ASME Transactions on Mechatronics》 |2017年第5期|2141-2152|共12页
  • 作者

    Maolin Jin; Sang Hoon Kang; Pyung Hun Chang; Jinoh Lee;

  • 作者单位

    Korea Institute of Robot and Convergence, Pohang, South Korea;

    Robotics and Rehabilitation Engineering Laboratory, Department of System Design and Control Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, South Korea;

    Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology, Daegu, South Korea;

    Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy;

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  • 原文格式 PDF
  • 正文语种 eng
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  • 关键词

    Delay effects; Manipulator dynamics; Estimation; Torque; Friction;

    机译：延迟效应;机械手动力学;估计;扭矩;摩擦;

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