Decentralized Control of Harmonic Drive Based Modular Robot Manipulator using only Position Measurements: Theory and Experimental Verification
文献类型：期刊论文
| 作者 | Dong, Bo1,2 ; Liu, Keping2; Li, Yuanchun2
|
| 刊名 | JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
 |
| 出版日期 | 2017-10-01 |
| 卷号 | 88期号:1页码:3-18 |
| 关键词 | Modular robot manipulator Robot decentralized control Harmonic drive Velocity estimation Model uncertainty compensation |
| ISSN号 | 0921-0296 |
| DOI | 10.1007/s10846-017-0521-x |
| 通讯作者 | Li, Yuanchun(liyc@ccut.edu.cn) |
| 英文摘要 | This paper presents a decentralized control approach of harmonic drive (HD) based modular robot manipulator (MRM) using only position measurements. Unlike known methods that rely on joint torque and velocity sensing, this paper addresses the problem of controlling HD based MRM using only position measurements on the motor and link sides of each module. The dynamic model of HD based MRM is formulated by employing a high-fidelity HD model and the velocity of each robot joint is estimated based on a novel nonlinear velocity estimator. With only local information on each module, a decentralized integral sliding mode controller (ISMC) is designed based on variable gain super-twisting algorithm (VGSTA) to compensate the model uncertainty and to reduce the chattering effect of the controller. The asymptotic stability of the closed-loop system is proved using the Lyapunov theory. Finally, experiments are performed for a 3-DOF MRM to verify the advantage of the proposed method. |
| WOS关键词 | ESTIMATED STATE-FEEDBACK ; ADAPTIVE FUZZY CONTROL ; SLIDING-MODE CONTROL ; ROBUST-CONTROL ; FRICTION COMPENSATION ; RECONFIGURABLE ROBOT ; PRECISION CONTROL ; TORQUE ESTIMATION ; MOTION CONTROL ; JOINT |
| 资助项目 | National Natural Science Foundation of China[61374051] ; State Key Laboratory of Management and Control for Complex Systems[20150102] ; Scientific Technological Development Plan Project in Jilin Province of China[20160414033GH] ; Scientific Technological Development Plan Project in Jilin Province of China[201605-20013JH] ; Scientific Technological Development Plan Project in Jilin Province of China[20150520112JH] ; China Scholarship Council |
| WOS研究方向 | Computer Science ; Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:000409969300002 |
| 出版者 | SPRINGER |
| 资助机构 | National Natural Science Foundation of China ; State Key Laboratory of Management and Control for Complex Systems ; Scientific Technological Development Plan Project in Jilin Province of China ; China Scholarship Council |
| 源URL | [http://ir.ia.ac.cn/handle/173211/28022]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室 |
| 通讯作者 | Li, Yuanchun |
| 作者单位 | 1.Chinese Acad Sci, State Key Lab Management & Control Complex Syst, Inst Automat, Beijing 100190, Peoples R China 2.Changchun Univ Technol, Dept Control Sci & Engn, Changchun 130012, Jilin, Peoples R China |
| 推荐引用方式 GB/T 7714 | Dong, Bo,Liu, Keping,Li, Yuanchun. Decentralized Control of Harmonic Drive Based Modular Robot Manipulator using only Position Measurements: Theory and Experimental Verification[J]. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS,2017,88(1):3-18. |
| APA | Dong, Bo,Liu, Keping,&Li, Yuanchun.(2017).Decentralized Control of Harmonic Drive Based Modular Robot Manipulator using only Position Measurements: Theory and Experimental Verification.JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS,88(1),3-18. |
| MLA | Dong, Bo,et al."Decentralized Control of Harmonic Drive Based Modular Robot Manipulator using only Position Measurements: Theory and Experimental Verification".JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 88.1(2017):3-18. |
入库方式： OAI收割
来源：自动化研究所
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