Decentralized control for harmonic drive-based modular and reconfigurable robots with uncertain environment contact
文献类型：期刊论文
| 作者 | Dong, Bo1,2 ; Li, Yan2; Liu, Keping2
|
| 刊名 | ADVANCES IN MECHANICAL ENGINEERING
 |
| 出版日期 | 2017-04-17 |
| 卷号 | 9期号:4页码:14 |
| 关键词 | Modular and reconfigurable robot decentralized control strategy uncertain environment contact harmonic drive transmission interconnected couplings |
| ISSN号 | 1687-8140 |
| DOI | 10.1177/1687814017696045 |
| 通讯作者 | Dong, Bo(dongbo@ccut.edu.cn) |
| 英文摘要 | In this article, a decentralized control strategy is presented for harmonic drive-based modular and reconfigurable robots with uncertain environment contact. Unlike conventional methods that rely on robot-environment contact model or force/torque sensing, this article addresses the problem of controlling modular and reconfigurable robots in contact with uncertain environment using only encoder data of each joint module. By employing a control-oriented harmonic drive model, the dynamic model of modular and reconfigurable robot is formulated as a synthesis of interconnected subsystems, in which the interconnected joint couplings are with small magnitudes. Based on the integral sliding mode control technique and the adaptive super-twisting algorithm, the decentralized controller is designed to compensate model uncertainty in which the up-bound is unknown. The stability of the modular and reconfigurable robot system is proved using Lyapunov theory. Finally, simulations are conducted for 2-degree-of-freedom modular and reconfigurable robots with different configurations under the situations of dynamic contact and collision to investigate the advantage of the proposed approach. |
| WOS关键词 | EXTENDED-STATE-OBSERVER ; SLIDING MODE CONTROL ; ROBUST-CONTROL ; FRICTION COMPENSATION ; TORQUE ESTIMATION ; MANIPULATORS ; SYSTEMS ; JOINT ; TIME ; TRANSMISSION |
| 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[20160520013JH] ; Scientific Technological Development Plan Project in Jilin Province of China[20160414033GH] ; Scientific Technological Development Plan Project in Jilin Province of China[20150520112JH] |
| WOS研究方向 | Thermodynamics ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000400435400001 |
| 出版者 | SAGE PUBLICATIONS LTD |
| 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 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/28046]  |
| 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 | Dong, Bo |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, 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,Li, Yan,Liu, Keping. Decentralized control for harmonic drive-based modular and reconfigurable robots with uncertain environment contact[J]. ADVANCES IN MECHANICAL ENGINEERING,2017,9(4):14. |
| APA | Dong, Bo,Li, Yan,&Liu, Keping.(2017).Decentralized control for harmonic drive-based modular and reconfigurable robots with uncertain environment contact.ADVANCES IN MECHANICAL ENGINEERING,9(4),14. |
| MLA | Dong, Bo,et al."Decentralized control for harmonic drive-based modular and reconfigurable robots with uncertain environment contact".ADVANCES IN MECHANICAL ENGINEERING 9.4(2017):14. |
入库方式： OAI收割
来源：自动化研究所
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