基于最优阻抗选取的机器人自适应鲁棒导纳控制

Robot adaptive robust admittance control based on optimal impedance selection

中文关键词  阻抗控制  导纳控制  自适应控制  最优阻抗  时滞估计

英文关键词  impedance control  admittance control  adaptive control  optimal impedance  time delay estimation

中文摘要

      本文提出了一种基于最优阻抗选择的机器人自适应鲁棒导纳控制策略, 以提高机器人与环境交互的性能. 本文的创新点包括: 1) 提出了一种新的环境阻抗复合学习估计方法, 保证阻抗参数估计值约束在预定的集合内, 通过初始激励保证了估计误差的指数收敛性; 2) 基于估计的环境阻抗, 设计机器人期望的最优刚度和阻尼, 实现交互力和轨迹跟踪误差的最优协调; 3) 设计了一种基于时滞估计的自适应鲁棒导纳控制器, 使机器人能够以规定的性能跟踪导纳轨迹. 在自适应鲁棒控制器中, 采用饱和函数来代替传统的滑模控制, 极大地缓解了可能出现的抖振问题. 通过对比仿真验证了本文环境阻抗估计方法和自适应鲁棒导纳控制的有效性.

英文摘要

      In this paper, an adaptive robust admittance control strategy based on optimal impedance selection is proposed to improve the performance of robot-environment interaction. The innovations of this paper include: 1) A new composite learning estimation method for environmental impedance is proposed to ensure that the impedance estimator is constrained within a predetermined set, and the exponential convergence of the estimation error is guaranteed by the initial excitation; 2) Based on the estimated environmental impedance, the stiffness and damping required by the robot are designed, and converge to the optimal stiffness and damping is obtained by minimizing the performance function of the interaction force and the cost function of the trajectory tracking error; 3) An adaptive robust admittance controller based on time-delay estimation is designed to enable the robot to track the admittance trajectory with prescribed performance. In the adaptive robust controller, the saturation function is used to replace the traditional sliding mode control, which greatly alleviates the possible chattering problem. The effectiveness of the environmental impedance estimation method and adaptive robust admittance control is verified by comparative simulation.