基于事件触发的机械臂复合阻抗控制  

Event-triggered manipulator composite impedance control

作　　者：何胤 王娜[1,2] 丁军航 赵燕豪 HE Yin;WANG Na;DING Junhang;ZHAO Yanhao(Qingdao University,College of Automation,Qingdao,Shangdong 266071,China;Shandong Provincial Key Laboratory of Industrial Control Technology,Qingdao,Shangdong 266071,China;University of Health and Rehabilitation Sciences,School of Rehabilitation Sciences and Engineering,Qingdao,Shangdong 266071,China)

机构地区：[1]青岛大学自动化学院,山东青岛266071 [2]青岛大学山东省工业控制技术重点实验室,山东青岛266071 [3]康复大学康复科学与工程学院,山东青岛266071

出　　处：《自动化与仪器仪表》2024年第12期147-152,共6页Automation & Instrumentation

基　　金：国家自然科学基金项目(61703221);山东省自然科学基金资助项目(ZR2016FP10);崂山实验室科技创新项目(LSKJ202201904)。

摘　　要：为了提高机械臂与外界环境发生接触时的控制精度,提出一种基于事件触发的复合阻抗控制方法。所提方法采用双环控制,首先,设计一种能够基于机械臂末端接触力反馈动态调整期望轨迹的阻抗控制外环;其次,提出一种基于事件触发的位置控制内环,在其中利用干扰观测器估计机械臂建模误差与关节摩擦等造成的未知干扰,设计漏斗函数约束机械臂系统输出信号,设置事件触发机制节约通信资源,从而实现机械臂末端期望轨迹的精确跟踪;通过Lyapunov稳定性定理,证明了闭环系统中所有状态量有界。最后仿真结果表明,所提方法可以精确跟踪机械臂末端的期望力与期望轨迹。In order to improve the control accuracy of the manipulator when it is in contact with the external environment,a composite impedance control method based on event triggering was proposed.Firstly,an impedance control outer loop is designed that can dynamically adjust the desired trajectory based on the contact force feedback at the end of the manipulator.Secondly,an event-triggered position control inner loop is proposed,in which the disturbance observer is used to estimate the unknown disturbance caused by the modeling error and joint friction of the manipulator,the funnel function is designed to constrain the output signal of the manipulator system,and the event-triggered mechanism is set to save communication resources,so as to realize the accurate tracking of the expected trajectory at the end of the manipulator.Through Lyapunov's stability theorem,it is proved that all state quantities in a closed-loop system are bounded.Finally,the simulation results show that the proposed method can accurately track the expected force and expected trajectory at the end of the manipulator.

关 键 词：阻抗控制 事件触发控制 干扰观测器 漏斗控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]