Adaptive Compliance Control of Flexible Link Manipulator in Unknown Environment

被引：0
|
作者：
Yannick, Cianyi [1 ]
Zhu, Xiaocong [1 ]
Cao, Jian [2 ]
机构：
[1] Zhejiang Univ, State Key Lab Fluid Power & Mechatron Syst, Hangzhou 310027, Peoples R China
[2] Hefei Univ Technol, Sch Mech Engn, Hefei 230009, Peoples R China
来源：
INTELLIGENT ROBOTICS AND APPLICATIONS (ICIRA 2022), PT III | 2022年 / 13457卷
基金：
中国国家自然科学基金;
关键词：
Collaborative robots; Flexible-link manipulators; Compliance control; Two-time scale; Force observers; IMPEDANCE CONTROL;
D O I：
10.1007/978-3-031-13835-5_70
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The present work proposes an Adaptive Compliant Control scheme based on a closed-form output-redefined and perturbed dynamic model of a Single-link Flexible Manipulator (SLFM) in Unknown Environment. The control scheme is composed of inner and outer controllers. The inner control is designed based on Two-Time Scale Adaptive Robust Control (TTARC) to ensure fast and precise motion control, while the outer control is based on the impedance dynamics aiming to offer a desired compliant behavior in constrained motion. External force is estimated based on the extended Kalman Filter (EKF). The stability of the closed-loop system is verified through Lyapunov theory. The effectiveness of the overall control scheme is verified through simulation.
引用
收藏
页码：779 / 790
页数：12
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