Variable Impedance Control of Cable Actuated Continuum Manipulators
文献类型：期刊论文
| 作者 | He, Guangping1; Fan, Yanan1; Su, Tingting1,2 ; Zhao, Lei1; Zhao, Quanliang1
|
| 刊名 | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
 |
| 出版日期 | 2020-02-04 |
| 页码 | 14 |
| 关键词 | Continuum manipulators control robots stability variable impedance |
| ISSN号 | 1598-6446 |
| DOI | 10.1007/s12555-019-0449-y |
| 通讯作者 | He, Guangping(hegp55@126.com) |
| 英文摘要 | Continuum manipulators are a class of special compliant robots that have important potential applications in the field of human-machine interactive operations, or work in cluttered and constrained environments. In these application scenarios, the most popular operation tasks are those with coupling force-position constraints. To simultaneously stabilize the desired operation force and the position of the manipulator, variable impedance control issues of the cable driven continuum manipulators are investigated in this paper. On the basis of constructing a novel Lyapunov function, a variable impedance control law is presented and the stability of the closed-loop system has also been analyzed. Then the operation space variable impedance control for a single segment cable driven continuum manipulator is realized by the aid of a pseudo-rigid-body model. Some numerical simulations also demonstrate the stability of the variable impedance control system. |
| WOS关键词 | SHAPE TRACKING ; STIFFNESS ; ROBOTS ; KINEMATICS ; STABILITY ; DYNAMICS ; POSITION ; DESIGN |
| 资助项目 | National Key R&D Program of China[2019YFB1309603] ; Beijing Natural Science Foundation[L172001] ; Beijing Natural Science Foundation[4204097] ; Beijing Natural Science Foundation[3172009] ; Beijing Natural Science Foundation[3194047] ; Natural Science Foundation of China[51775002] |
| WOS研究方向 | Automation & Control Systems |
| 语种 | 英语 |
| WOS记录号 | WOS:000511078000018 |
| 出版者 | INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS |
| 资助机构 | National Key R&D Program of China ; Beijing Natural Science Foundation ; Natural Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/28556]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 通讯作者 | He, Guangping |
| 作者单位 | 1.North China Univ Technol, Dept Mech & Elect Engn, Beijing 100144, Peoples R China 2.Chinese Acad Sci, State Key Lab Management & Control Complex Syst, Inst Automat, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | He, Guangping,Fan, Yanan,Su, Tingting,et al. Variable Impedance Control of Cable Actuated Continuum Manipulators[J]. INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS,2020:14. |
| APA | He, Guangping,Fan, Yanan,Su, Tingting,Zhao, Lei,&Zhao, Quanliang.(2020).Variable Impedance Control of Cable Actuated Continuum Manipulators.INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS,14. |
| MLA | He, Guangping,et al."Variable Impedance Control of Cable Actuated Continuum Manipulators".INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS (2020):14. |
入库方式： OAI收割
来源：自动化研究所
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