阻抗控制
电阻抗
控制理论(社会学)
变量(数学)
模型预测控制
计算机科学
控制工程
最优化问题
被动性
光学(聚焦)
控制变量
控制(管理)
工程类
数学
人工智能
算法
机器学习
数学分析
物理
光学
电气工程
作者
Zhehao Jin,Dongdong Qin,Andong Liu,Wen‐An Zhang,Li Yu
出处
期刊:IEEE-ASME Transactions on Mechatronics
[Institute of Electrical and Electronics Engineers]
日期:2023-04-01
卷期号:28 (2): 1174-1186
被引量:12
标识
DOI:10.1109/tmech.2022.3204350
摘要
Impedance control (IC) is widely used in contact-rich manipulator tasks since it provides manipulators with both operation precision and contact compliance, and trades them off by impedance parameters. However, fixed impedance parameters limit the applicability of IC in complex tasks during which the focus on the operation precision or the contact compliance is variable, such as physical human–robot collaboration and complex assembly tasks. This article presents model predictive variable impedance control approaches for adaptive precision-compliance tradeoff to satisfy variable task requirements. Specifically, we establish a novel impedance model, which transforms the variable impedance law design problem into a control law design problem, and allows us to consider novel impedance constraints that can determine manipulators' extreme precision and compliance properties. According to whether state constraints are further considered, one-step (OS) and multistep (MS) model predictive control approaches are proposed to solve these transformed control problems, and the corresponding optimization problem of the OS MPC can be established as a QP problem due to the special form of the novel impedance model. A tank-based approach is further proposed to correct the variable impedance laws for the system passivity concern. Various comparative experiments are conducted to validate the effectiveness of the presented approaches.
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