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首页> 外文期刊>International Journal of Control, Automation, and Systems >Impedance Control of Flexible Base Mobile Manipulator Using Singular Perturbation Method and Sliding Mode Control Law
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Impedance Control of Flexible Base Mobile Manipulator Using Singular Perturbation Method and Sliding Mode Control Law

机译：基于奇异摄动法和滑模控制律的柔性基移动机械手阻抗控制

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In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new sliding mode control methods by authors. Initially slow and fast dynamics of robot are decoupled using singular perturbation method. Slow dynamics represents the dynamics of the manipulator with rigid base. Fast dynamics is the equivalent effect of the flexibility in the base. Then, using sliding mode control method, an impedance control law is derived for the slow dynamics. The asymptotic stability of the overall system is guaranteed using a combined control law comprising the impedance control law and a feedback control law for the fast dynamics. As first time, base flexibility was analyzed accurately in this paper for flexible base moving manipulator (FBMM). General dynamic decoupling, whole system stability guarantee and new composed robust control method were proposed. This proposed Sliding Mode Impedance Control Method (SMIC) was simulated for two FBMM models. First model is a simple FBMM composed of a 2 DOFs planar manipulator and a single DOF moving base with flexibility in between. Second FBMM model is a complete advanced 10 DOF FBMM composed of a 4 DOF manipulator and a 6 DOF moving base with flexibility. This controller provides desired position/force control accurately with satisfactory damped vibrations especially at the point of contact. This is the first time that SMIC was addressed for FBMM.
机译：在本文中，解决了具有可移动柔性基座的机器人操纵器的阻抗控制的一般问题。阻抗控制在与环境的接触点施加力和位移之间的关系。柔性基础移动机械手的阻抗控制概念相当新，作者首次使用奇异摄动和新的滑模控制方法对其进行了研究。最初，机器人的慢速和快速动力学是使用奇异摄动法解耦的。慢动力学表示具有刚性基座的机械手的动力学。快速动态是底座灵活性的等效效果。然后，使用滑模控制方法，推导了慢速动力学的阻抗控制律。使用包含阻抗控制定律和快速动态反馈控制定律的组合控制定律，可以保证整个系统的渐近稳定性。首次，本文对挠性基座移动机械手（FBMM）的基座灵活性进行了精确分析。提出了一般的动态解耦，整个系统的稳定性保证和新的组合鲁棒控制方法。针对两个FBMM模型模拟了该拟议的滑模阻抗控制方法（SMIC）。第一个模型是一个简单的FBMM，它由2个自由度的平面操纵器和单个自由度的移动基座组成，两者之间具有灵活性。第二个FBMM模型是一个完整的高级10 DOF FBMM，它由一个4 DOF机械手和一个6 DOF移动基座组成，具有灵活性。该控制器特别是在接触点处，具有令人满意的阻尼振动，可以准确地提供所需的位置/力控制。这是SMIC首次针对FBMM。

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