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학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
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논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- 제어로봇시스템학회 International Journal of Control, Automation, and Systems International Journal of Control, Automation, and Systems 제6권 제5호
- 발행연도
- 2008.10
- 수록면
- 677 - 688 (12page)
이용수
초록· 키워드
오류제보하기
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.
목차
Abstract
1. INTRODUCTION
2. DYNAMIC MODEL
3. SLOW DYNAMICS
4. FAST DYNAMICS
5. IMPEDANCE CONTROL
6. IMPEDANCE CONTROL OF SLOW DYNAMICS
7. CONTROL LAW OF FAST DYNAMICS
8. COMPOSITE CONTROL METHOD, SMIC
9. SMIC FOR SIMPLE AND ADVANCED FBMM MODELS
10. CONCLUSION
REFERENCES
참고문헌 (24)
참고문헌 신청
M. K. Khorasani , 1985 , Feedback linearization of a flexible manipulator near its rigid body manifold , Systems & Control Letters 3 (6) : 187 ~ 192
M. W. Spong , 1987 , Modeling and control of elastic joint robots , ASME Journal of Dynamic Systems Measurement and Control 109 (4) : 310 ~ 319
H. K. Khalil , 1996 , Nonlinear Systems in : Dynamics and Control , Pearson Education Int. Inc
J. Y. Lew , 2001 , A simple active damping controller compliant base manipu-lators , IEEE Trans. on Mechatornics 6 (3) : 305 ~ 310
A. Ercodi-Finzi , 1993 , Dynamic modeling and control strategies of space manip-ulators , Polytechnic of Milan, Italy, Part of Mechanic Pan-America
M. W. Spong , 1987 , Modeling and control of elastic joint robots , ASME Journal of Dynamic Systems Measurement and Control 109 (4) : 310 ~ 319
H. K. Khalil , 1996 , Nonlinear Systems in : Dynamics and Control , Pearson Education Int. Inc
J. Y. Lew , 2001 , A simple active damping controller compliant base manipu-lators , IEEE Trans. on Mechatornics 6 (3) : 305 ~ 310
A. Ercodi-Finzi , 1993 , Dynamic modeling and control strategies of space manip-ulators , Polytechnic of Milan, Italy, Part of Mechanic Pan-America
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UCI(KEPA) : I410-ECN-0101-2013-569-003244256