Decentralized control for harmonic drive-based modular and reconfigurable robots with uncertain environment contact
Dong, Bo1,2; Li, Yan1; Liu, Keping1
发表期刊ADVANCES IN MECHANICAL ENGINEERING
ISSN1687-8140
2017-04-17
卷号9期号:4页码:14
通讯作者Dong, Bo(dongbo@ccut.edu.cn)
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.
关键词Modular and reconfigurable robot decentralized control strategy uncertain environment contact harmonic drive transmission interconnected couplings
DOI10.1177/1687814017696045
关键词[WOS]EXTENDED-STATE-OBSERVER ; SLIDING MODE CONTROL ; ROBUST-CONTROL ; FRICTION COMPENSATION ; TORQUE ESTIMATION ; MANIPULATORS ; SYSTEMS ; JOINT ; TIME ; TRANSMISSION
收录类别SCI
语种英语
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] ; 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]
项目资助者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
WOS研究方向Thermodynamics ; Engineering
WOS类目Thermodynamics ; Engineering, Mechanical
WOS记录号WOS:000400435400001
出版者SAGE PUBLICATIONS LTD
引用统计
被引频次:12[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/28047
专题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.Changchun Univ Technol, Dept Control Sci & Engn, Changchun 130012, Jilin, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China
第一作者单位中国科学院自动化研究所
通讯作者单位中国科学院自动化研究所
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.
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