面向未知空间的模块化机器人最优位置-力控制研究  

Optimal position-force control of modular robot manipulators facing uncertain environmental constraints

作　　者：马冰 张航伟 潘强 安天骄 张振国 MA Bing;ZHANG Hangwei;PAN Qiang;AN Tianjiao;ZHANG Zhenguo(School of Electrical&Electronic Engineering,Changchun University of Technology,Changchun 130012,China)

机构地区：[1]长春工业大学电气与电子工程学院,吉林长春130012

出　　处：《长春工业大学学报》2024年第2期104-113,F0003,共11页Journal of Changchun University of Technology

基　　金：吉林省科技发展计划项目(20230508159RC);吉林省高等教育学会2022年高教科研课题(JGJX2022D157,JGJX2022D164)。

摘　　要：针对模块化机器人系统与外界未知环境交互的控制任务,提出一种基于自适应动态规划的位置-力控制。首先,考虑模块化机器人系统受未知环境约束,对未知环境约束空间进行分析,并设计自适应估计算法近似未知约束参数向量,从而得到未知外部约束力转化为模块化机器人所受的近似约束力矩,设计融合位置和末端接触力跟踪误差的多指标性能指标函数,结合自适应动态规划思想和策略迭代算法,求解哈密尔顿方程,从而实现面向未知空间的模块化机器人最优位置-力控制。This article proposes a position-force control method for uncertain environmental constrained modular robot manipulators based on adaptive dynamic programming algorithm.Through the analysis of kinematic uncertainties,an adaptive estimation scheme is designed to obtain the approximate contacted torque.The contacted torque is generated due to the interaction of the manipulator's end-effector with the uncertain environment.Then,the performance index function is defined by utilizing the joint position,contacted torque tracking errors and uncertain environmental factors.On the basis of policy iteration algorithm,the corresponding Hamiltonian-Jacobi-Bellman equation is addressing by employing the critic NN structure.Thus,the optimal position-force control strategy is obtained.Based on Lyapunov stability theorem,the tracking error of the modular robot manipulator is proved to be ultimately uniformly bounded.Eventually,simulations and experiments are illustrated the effectiveness of the developed controller.

关 键 词：模块化机器人 自适应动态规划 位置-力控制 最优控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]