论文标题
由串联弹性执行器驱动的合规机器人的统一鲁棒运动控制器合成
A Unified Robust Motion Controller Synthesis for Compliant Robots Driven by Series Elastic Actuators
论文作者
论文摘要
本文提出了一个由串联弹性执行器（SEAS）驱动的合规机器人操纵器的位置和力控制问题的统一鲁棒运动控制器。结果表明，兼容的机器人的动态模型不仅包括匹配的，而且还包括与控制输入不同通道在系统上作用的不匹配干扰。为了解决这个复杂的强大控制问题，通过采用二阶干扰观察者（DOB）来合成统一的鲁棒运动控制器，这使我们不仅可以估计干扰，还可以估计其第一阶和二阶衍生物，以及在状态空间中的新型控制器设计方法。通过使用Brunovsky的规范形式转换以及干扰及其第一阶和二阶导数的估计，重建了机器人的动态模型，以便将仅包括仅包括匹配的干扰的新系统模型，该模型是针对海洋驱动的合规机器人获得的。稳健的位置和力控制器仅通过通过常规的基于DOB的鲁棒控制方法消除重建系统模型的匹配干扰而设计。通过模拟验证了所提出的鲁棒运动控制器的稳定性和性能。
This paper proposes a unified robust motion controller for the position and force control problems of compliant robot manipulators driven by Series Elastic Actuators (SEAs). It is shown that the dynamic model of the compliant robot includes not only matched but also mismatched disturbances that act on the system through a different channel from the control input. To tackle this complex robust control problem, the unified robust motion controller is synthesised by employing a second-order Disturbance Observer (DOb), which allows us to estimate not only disturbances but also their first and second order derivatives, and a novel controller design approach in state space. By using the Brunovsky canonical form transformation and the estimations of disturbances and their first and second order derivatives, the dynamic model of the robot is reconstructed so that a new system model that includes only matched disturbances is obtained for compliant robots driven by SEAs. The robust position and force controllers are simply designed by eliminating the matched disturbances of the reconstructed system model via the conventional DOb-based robust control method. The stability and performance of the proposed robust motion controllers are verified by simulations.
