共查询到19条相似文献,搜索用时 484 毫秒
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机械臂的位置与力的混合控制方法 总被引:1,自引:0,他引:1
本文研究关于机械臂的位置与力的混合控制方法.为了实现混合控制,首先应用一对被
称为"任务规范投影算子"建立了机械臂混合控制的动态方程.在此基础上,提出了两种控制器
的设计方法,一种是计算力矩方法控制器,另一种是动态补偿变结构控制器.后者不但具有更
好的鲁棒性,并且可以分别调整运动与约束力的跟踪精度. 相似文献
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飞行机械臂系统的接触力控制 总被引:1,自引:0,他引:1
针对飞行机械臂系统的接触力控制问题,本文首先从理论上证明了闭环无人机系统具有与弹簧-质量-阻尼系统一致的动态特性.基于飞行机械臂接触状态下力的分析,得到了无人机水平前向接触力与系统重力和俯仰角之间的动态关系,进而分析出接触力控制可以不使用力传感器来实现.根据阻抗控制思想,提出了飞行机械臂系统接触力控制方法,即通过同时控制位置偏差和对应姿态角度来实现接触力的控制.给出了单自由度飞行机械臂系统动力学模型,对应分析出系统的稳定性.开发了基于四旋翼飞行器的单自由度飞行机械臂系统,并进行了实际的飞行实验,验证了所提出接触力控制方法的有效性,同时也证实了所开发系统的可靠性. 相似文献
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针对带有多自由度机械臂的飞行机器人,提出基于Leap Motion的控制方法以实现机械臂跟随人体手掌位置姿态运动的功能。采用DH方法建立了机械臂数学模型,给出了将Leap Motion获取的人手运动映射到机械臂末端的推导过程。利用7段S型曲线调速方法近似实现舵机角加速度连续没有突变,减轻了舵机快速响应给飞行器带来的冲击问题。设计制作了实物样机对控制方法的可实现性进行验证测试,在飞行测试中,成功地利用Leap Motion控制远端的机械臂抓取到地面目标。 相似文献
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为了更好地与复杂多变的非结构化环境进行交互,完成对目标物体的识别和抓取,提出了一种应用于服务机器人平台的基于双目视觉的仿人机械臂控制方法.文中首先用D-H方法对机械臂进行建模,并对这个模型做了改进,给出了一种更加简便的3+1自由度仿人机械臂的逆解算法,采用基于双目视觉与颜色分割的目标识别方法;然后根据识别出的目标三维坐标信息控制机械臂完成抓取任务;最后,本方法在家庭服务机器人上得到了验证,机器人能够完成对目标物体的识别和抓取动作. 相似文献
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以位置控制为主的机械臂控制方法已不能满足某些复杂环境(装配、抛光、去毛刺)的应用要求,控制机械臂与环境间的接触力已成为机器人学研究的一个热点。提出一种在Matlab/SimMechanics环境下平面二自由度机械臂力控制的仿真研究方法。在平面中模拟机械臂与环境的接触面,设计振荡抑制控制器,实现机械臂与环境间接触力的控制,以及机械臂与刚性环境碰撞接触过程中冲击振荡阶段的振荡抑制,生成机械臂期望的运动轨迹。仿真结果表明,该方法可实现特定作业下机械臂与环境间接触力的控制。 相似文献
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Basing on a constraint Jacobian induced orthogonal decomposition of the task space and by requiring the force controller to be orthogonal to the constraint manifold, the dynamics of the constrained robots under hybrid control is decomposed into a set of two equations. One describes the motion of robots moving on the constraint manifold, while the other relates the constraint force with the hybrid controller. This decomposition does not require the solution of the constraint equation in partition form. In this setting, the hybrid control of constrained robots can be essentially reduced to robust stabilization of uncertain nonlinear systems whose uncertainties do not satisfy the matching condition. A continuous version of the sliding-mode controller (from Khalil [12]) is employed to design a position controller. The force controller is designed as a proportional force error feedback of high gain type. The coordination of the position controller and the force controller is shown to achieve ultimately bounded position and force tracking with tunable accuracy. Moreover, an estimate of the domain of attraction is provided for the motion on the constraint manifold. Simulation for a planar two-link robot constraining on an ellipse is given to show the effectiveness of a hybrid controller. In addition, the friction effect, viewed as external disturbance to the system, is also examined through simulations. 相似文献
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Robust adaptive motion/force tracking control design for uncertain constrained robot manipulators 总被引:3,自引:0,他引:3
In the presence of uncertain constraint and robot model, an adaptive controller with robust motion/force tracking performance for constrained robot manipulators is proposed. First, robust motion and force tracking is considered, where a performance criterion containing disturbance and estimated parameter attenuations is presented. Then the proposed controller utilizes an adaptive scheme and an auxiliary control law to deal with the uncertain environmental constraint, disturbances, and robotic modeling uncertainties. After solving a simple linear matrix inequality for gain conditions, the effect from disturbance and estimated parameter errors to motion/force errors is attenuated to an arbitrary prescribed level. Moreover, if the disturbance and estimated parameter errors are square-integrable, then an asymptotic motion tracking is achieved while the force error is as small as the inversion of control gain. Finally, numerical simulation results for a constrained planar robot illustrate the expected performance. 相似文献
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An inverse dynamics control algorithm is developed for hybrid motion and contact force trajectory tracking control of flexible joint parallel manipulators. First, an open-tree structure is considered by the disconnection of adequate number of unactuated joints. The loop closure constraint equations are then included. Elimination of the joint reaction forces and the other intermediate variables yield a fourth-order relation between the actuator torques and the end-effector position and contact force variables, showing that the control torques do not have an instantaneous effect on the end-effector contact forces and accelerations because of the flexibility. The proposed control law provides simultaneous and asymptotically stable control of the end-effector contact forces and the motion along the constraint surfaces by utilizing the feedback of positions and velocities of the actuated joints and rotors. A two degree of freedom planar parallel manipulator is considered as an example to illustrate the effectiveness of the method. 相似文献
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In this paper, a control architecture is developed for the closed chain motion of two six-joint manipulators holding a rigid object in a three-dimensional workspace. Dynamic and kinematic constraints are combined with the equations of motion of the manipulators to obtain a dynamical model of the entire system in the joint space. Reduced-order dynamic equations are then developed with regard to the position and force control variables. Robust control laws are then determined such that the force and position control design is decoupled. The control laws that will be discussed are: a robust position tracking controller that yields an exponentially stable position tracking error result, and a robust force tracking controller that yields adjustable bounds on the force tracking error. 相似文献
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In the study of constrained multiple robot control, the relative motion between the constraint object and the end effectors of manipulators are usually neglected in the literature. However, in many industrial applications, such as assembly and machining, the constraint object is required to move with respect to not only the world coordinates but also the end effectors of the robotic arms. In this paper, dynamic modelling of two robotic arms manipulating an object with relative motion is presented first, then a model-based adaptive controller and a model-free neural network controller are developed. Both controllers guarantee the asymptotic tracking of the constraint object and the boundedness of the constraint force. Asymptotic convergence of the constraint force can also be achieved under certain conditions. Simulation studies are conducted to verify the effectiveness of the approaches. 相似文献
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In this paper, modeling and adaptive motion/force tracking control is considered for a class of mobile manipulators under the holonomic and affine constraints with the presence of uncertainties and disturbances. Based on a suitable reduced dynamic model, adaptive controllers are proposed to ensure that the states of a closed‐loop system asymptotically track desired trajectories while the constraint force remains bounded by tuning design parameters. Detailed simulation results confirm the effectiveness of the control strategy. 相似文献
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Zhijun Li Pey Yuen Tao Shuzhi Sam Ge Adams M. Wijesoma W.S. 《IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics》2009,39(1):103-116
In this paper, coupled dynamics are presented for two cooperating mobile robotic manipulators manipulating an object with relative motion in the presence of uncertainties and external disturbances. Centralized robust adaptive controls are introduced to guarantee the motion, and force trajectories of the constrained object converge to the desired manifolds with prescribed performance. The stability of the closed-loop system and the boundedness of tracking errors are proved using Lyapunov stability synthesis. The tracking of the constraint trajectory/force up to an ultimately bounded error is achieved. The proposed adaptive controls are robust against relative motion disturbances and parametric uncertainties and are validated by simulation studies. 相似文献
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面向未知环境基于智能预测的模糊控制器研究 总被引:4,自引:0,他引:4
提出了一种新的面向未知环境的智能预测算法,并将此算法应用于机器人力跟踪控制中.该方法利用机械手末端与未知受限环境产生的接触轨迹,通过模糊推理智能地预测阻抗控制模型中的参考轨迹,并根据力误差变化用参考比例因子对其进行调节,以适应未知环境刚度的变化.通过对阻抗模型参数进行模糊调节减少受限运动中的力误差,提高了全局的力控制效果.仿真结果证明了此算法的有效性. 相似文献
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对未知环境的机器人力控自律跟踪及建模 总被引:1,自引:1,他引:0
在考虑摩擦力的情况下,利用传感器所感知的机器人和未知轮廓间的相互作用力确接触处轮廓的切矢和法矢,据此建立端点约束坐标系,在该坐标系中沿切矢进行位置控制并沿法矢进行力控制。实现机器人对未知轮廓的自律跟踪运动。由跟踪运动所确定每一点处切矢信息及该点位置信息构造未知轮廓几何模型。在机器人学开放研究实验室的PUMA562机器人上实现了上述自律运动并建立了环境模型。 相似文献