Abstract
In the field of robot research and application, improving the interaction performance between robots and the environment is the basic requirement of robot control. Hence, the position/force control problem needs to be solved. However, in practice, the model of the robot is usually inaccurate, and the working environment is usually uncertain. To solve the position/force control problem of the robot when the model and position are uncertain, a new method of impedance sliding mode control with adaptive fuzzy compensation (ISMCAF) is proposed. The dynamics of the robot are governed to follow a target impedance model and the interaction control objective is achieved. According to Lyapulov’s theory, sliding mode control law and adaptive control law are designed to ensure the stability of the closed-loop system. The proposed method is further verified by simulation.
Highlights
Nowdays, one of the important jobs of robots is to handle contact tasks, including grinding, assembly, deburring, and so on [1], [2]
The principle is to decompose the motion of robots into position control subspace and force control subspace, and control them separately [4]
Position control is adopted in the unconstrained direction, and force control is adopted in the constrained direction
Summary
One of the important jobs of robots is to handle contact tasks, including grinding, assembly, deburring, and so on [1], [2]. Solutions are called for the tracking problem of position and force, and impedance control plays an important role in solving such tasks. Seul proposed a new impedance control method [16], which needs not accurately establish the dynamic model of the end of the robot, and an estimation model can be given. The position/force control of robots with uncertainty model and unstructured environment is the main focus of this paper. In the inner loop, sliding mode control is used to solve the problem of uncertain robot model and unknown environmental parameters. (2) In the outer loop, we implement impedance control to make the contact force between the end of the robot and the environment show compliance, and generate the virtual desired trajectories. Elements of these expected impedance model matrices describe the mechanical characteristics required in the contact process of the robot, and can be selected by the given operation tasks
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