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Finite-Time Observer-Based Variable Impedance Control of Cable-Driven Continuum Manipulators

文献类型：期刊论文

作者Liang, Xu4; He, Guangping4; Su, Tingting4; Wang, Weiqun1,5; Huang, Can4; Zhao, Quanliang4; Hou, Zeng-Guang1,2,3,5
刊名IEEE TRANSACTIONS ON HUMAN-MACHINE SYSTEMS
出版日期2022-02-01
卷号52期号:1页码:26-40
关键词Manipulators Impedance Kinematics Observers Manipulator dynamics Robots Task analysis Compliant robots continuum manipulators control finite-time stabilization variable impedance
ISSN号2168-2291
DOI10.1109/THMS.2021.3129708
通讯作者Hou, Zeng-Guang(hou@compsys.ia.ac.cn)
英文摘要Human-robot interaction has been widely studied, where compliant and safe human-robot interaction of continuum manipulators in the constrained environment is one of the key issues that have not been well addressed. In this study, finite-time observer-based variable impedance control of cable-driven continuum manipulators (CDCM) is proposed to overcome the limitation of existing methods. First, the pseudo-rigid modeling method is utilized to establish the kinematics and dynamics of the CDCM. Then, a variable impedance controller with selected controller parameters for the CDCM is designed to realize compliant and safe human-robot interaction operations with force-position coupling constraint, which is rarely studied in the literature. In order to realize the closed-loop variable impedance controller, a finite-time observer is designed to estimate acceleration feedbacks, which can avoid the difficulty of directly sensing the interaction forces and shows excellent robust stability in noisy environments. On this basis, by combining the advantages of the variable impedance controller and finite-time observer, the finite-time observer-based variable impedance controller is proposed, and the stabilities of the proposed method are analyzed. Finally, the feasibility of the proposed control scheme for the CDCM is demonstrated by some numerical simulations.
WOS关键词DYNAMICS ; ROBOT ; STABILIZATION ; STABILITY ; PRINCIPLE ; SYSTEMS ; DESIGN ; MOTION
资助项目National Key R&D Program of China[2019YFB1309603] ; Natural Science Foundation of China[62103007] ; Natural Science Foundation of China[62003005] ; Natural Science Foundation of China[51775002] ; Natural Science Foundation of Beijing[4204097] ; Natural Science Foundation of Beijing[L202020] ; Natural Science Foundation of Beijing[KM202110009009] ; Natural Science Foundation of Beijing[KZ202010009015] ; Open Research Fund of the State Key Laboratory for Management and Control of Complex Systems[20210103]
WOS研究方向Computer Science
语种英语
WOS记录号WOS:000740067700001
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构National Key R&D Program of China ; Natural Science Foundation of China ; Natural Science Foundation of Beijing ; Open Research Fund of the State Key Laboratory for Management and Control of Complex Systems
源URL[http://ir.ia.ac.cn/handle/173211/47187]  
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Hou, Zeng-Guang
作者单位1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
2.Macau Univ Sci & Technol, Inst Syst Engn, Joint Lab Intelligence Sci & Technol, Macau, Peoples R China
3.CAS Ctr Excellence Brain Sci & Intelligence Techn, Beijing 100190, Peoples R China
4.North China Univ Technol, Dept Mech & Elect Engn, Beijing 100144, Peoples R China
5.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714		 Liang, Xu,He, Guangping,Su, Tingting,et al. Finite-Time Observer-Based Variable Impedance Control of Cable-Driven Continuum Manipulators[J]. IEEE TRANSACTIONS ON HUMAN-MACHINE SYSTEMS,2022,52(1):26-40.
APA Liang, Xu.,He, Guangping.,Su, Tingting.,Wang, Weiqun.,Huang, Can.,...&Hou, Zeng-Guang.(2022).Finite-Time Observer-Based Variable Impedance Control of Cable-Driven Continuum Manipulators.IEEE TRANSACTIONS ON HUMAN-MACHINE SYSTEMS,52(1),26-40.
MLA Liang, Xu,et al."Finite-Time Observer-Based Variable Impedance Control of Cable-Driven Continuum Manipulators".IEEE TRANSACTIONS ON HUMAN-MACHINE SYSTEMS 52.1(2022):26-40.

入库方式： OAI收割

来源：自动化研究所

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