阻抗控制
控制理论(社会学)
控制工程
理论(学习稳定性)
非线性系统
计算机科学
笛卡尔坐标系
系统动力学
机器人
工程类
控制(管理)
人工智能
数学
量子力学
几何学
机器学习
物理
作者
Janne Koivumäki,Jouni Mattila
出处
期刊:IEEE-ASME Transactions on Mechatronics
[Institute of Electrical and Electronics Engineers]
日期:2017-04-01
卷期号:22 (2): 601-612
被引量:97
标识
DOI:10.1109/tmech.2016.2618912
摘要
In challenging robotic tasks, high-bandwidth closed-loop control performance of the system is required for successful task completion. One of the most critical factors inhibiting the wide-spread use of closed-loop contact control applications has been the control system stability problems. To prevent unstable system behavior, the need for rigorously addressed manipulator dynamics is substantial. This is because the contact dynamics between a manipulator and its environment can be drastic. In this paper, a novel Cartesian space impedance control method is proposed for hydraulic robotic manipulators. To address the highly nonlinear dynamic behavior of the hydraulic manipulator, the system control is designed according to the subsystem-dynamics-based virtual decomposition control (VDC) approach. The unique features of VDC (virtual power flow and virtual stability) are used to analyze the interaction dynamics between the manipulator and the environment. Based on the desired impedance parameters and stability analysis, an explicit method to design the control gains for the proposed impedance control law is developed. The L2 and L∞ stability is guaranteed in both free-space motions and constrained motions. Experimental results demonstrate that the hydraulic robotic manipulator is capable of adjusting its dynamic behavior accurately in relation to the imposed target impedance behavior. This provides compliant system behavior, which is needed in many dynamically challenging robotic tasks.
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