摘要
针对未知环境下的机器人系统,提出一种模糊滑模阻抗控制器,在自由空间可以做未受约束运动,具有位置跟踪的能力,在面对接触空间做受约束运动时,则具有力跟踪的能力。传统的阻抗控制会因为机器人或环境的不确定性和干扰而缺乏鲁棒性,该文在阻抗控制器中引入滑模控制,模糊控制器用来克服滑模控制的抖振问题。仿真结果表明模糊滑模阻抗控制对机器人自由空间的位置跟踪和接触空间的力跟踪都有很好的性能。
This study is dedicated to design a fuzzy sliding mode impedance controller with position tracking capability and force tracking capability for robot systems under unconstrained motions in free space and constrained motions in contact space.Traditional impedance control approaches usually lack robustness because the uncertainties and interference.To solve the problem,a sliding mode controller is adopted to the impedance controller,fuzzy logic controller is used to solve the chattering problem caused by sliding mode control.The results of simulation validate the performance of the designed impedance control scheme and show the highly efficiency of position tracking in free space and force tracking in contact space.
出处
《电气自动化》
2010年第4期12-13,16,共3页
Electrical Automation
基金
国家自然科学基金(60964003)
甘肃省工业过程先进控制重点实验室基金(XJK0901)资助
关键词
模糊滑模控制
机器人
阻抗控制
未知环境
fuzzy sliding mode control robot impendence control unknown environment
