Abstract
The present study proposes an active disturbance rejection sliding mode traction control system to deal with the dramatic change of joint angular acceleration and jitter attributed to non-uniform traction during terminal traction of the manipulator based on the use of human-computer interaction (HCI) device, as well as achieve the high-precision and high-speed terminal traction control. First, the traction trajectory generated by the HCI device is mapped into the motion space of the manipulator, and a low-pass filter is employed to filter out the high-frequency noises attributed to non-uniform traction. Second, the corresponding joint solution of the traction trajectory is solved by using the inverse kinematics algorithm. Then the nonlinear and strongly coupled manipulator is linearly decoupled. Lastly, the effect of non-uniform traction on the manipulator’s joints is considered as interference, and an active disturbance rejection sliding mode controller is introduced for each joint. To reduce the chattering, the output torque of the controller is processed with a low-pass filter. The stability of the controller is proved with the Lyapunov method. To verify the traction effect of the traction control system and its anti-interference ability for non-uniform traction, the trajectory tracking experiment with random jitter and the real terminal traction control experiment is performed on the UR5 manipulator in the virtual robot experiment platform. As revealed from the experimentally achieved results, the proposed controller can significantly limit the effect of non-uniform traction on each joint of the manipulator and achieve the fast, stable, and high-precision terminal traction control of the manipulator by the HCI device.
Highlights
S Ome armed reconnaissance robots are equipped with a multi-degree of freedom manipulator, and a reconnaissance camera is installed at the end of the manipulator
The present study proposes an advanced terminal traction control system by exploiting the attractive features of active disturbance rejection controller (ADRC) and SMC to make the operator use the human-computer interaction (HCI) devices to efficiently control the manipulator and enable its end to efficiently aim and track the target with fast random movement
EXPERIMENTAL SETUP To verify the feasibility of the proposed Active Disturbance Rejection Sliding Mode Controller (ADRSMC), a series of simulation experiments were performed on a 6-DOF manipulator based on the V-REP (Virtual Robot Experiment Platform)
Summary
S Ome armed reconnaissance robots are equipped with a multi-degree of freedom manipulator, and a reconnaissance camera is installed at the end of the manipulator. There are two control modes for the vehicle-mounted teleoperation manipulator, i.e., single-joint control mode and terminal trajectory control mode. The former usually requires the operator to control the angle of each joint through the knobs or joysticks of the teleoperation controller, to achieve the control of the position and posture of the manipulator’s end. The operator is required to adjust the angle of each joint several times to make the manipulator’s end in the ideal position [1]. The latter requires the operator to generate the motion trajectory in Cartesian space by using the human-computer interaction (HCI) device, solve the corresponding joint trajectory of the motion trajectory in
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