Force Control of Flexible Integrated Joint Based on Model-free Adaptive Control

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Force Control of Flexible Integrated Joint Based on Model-free Adaptive Control
	Li K(李凯)7,8,9; Wang Z(王争)8,9 ; Zhao XG(赵新刚)8,9 ; Zhao YW(赵忆文)8,9 ; Li YL(李英立)7,8,9
	2018
会议日期	December 12-15, 2018
会议地点	Kuala Lumpur, Malaysia
页码	1425-1430
英文摘要	The flexible integrated joint (FIJ) is a key part of the collaborative robots, which has the characteristics of lightweight and highly integration. The force control is pivotal for achieving compliant interactions with environments and humans, such as impendence control and force tracking control. However, the controller design for force control of the flexible joint is a challenging issue with unmodeled uncertainties, nonlinear friction, time-varying load and other disturbances forced by environments in general. In this paper, a control scheme based on model-free adaptive control (MFAC) was developed for the force control of the FIJ. First, the model of the FIJ was transformed into a virtual dynamic linearization data model by a dynamic linearization approach. Second, a MFAC algorithm was designed for force control of the FIJ, including its corresponding pseudo gradient estimating algorithm and pseudo gradient resetting algorithm. To evaluate the performance of the proposed method, the experiments including zero force tracking and step force tracking were carried out in this research. The experimental results show that the developed control approach can get a high performance as the dynamical parameters of the FIJ are time-varying and uncertain.
产权排序	1
会议录	Proceedings of the 2018 IEEE International Conference on Robotics and Biomimetics
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-7281-0376-1
WOS记录号	WOS:000468772200225
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/24655]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Li YL(李英立)
作者单位	1.University of the Chinese Academy of Sciences, Beijing 100049, China 2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China 4.University of the Chinese Academy of Sciences, Beijing 100049, China 5.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China 6.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China 7.University of the Chinese Academy of Sciences, Beijing 100049, China 8.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China 9.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China
推荐引用方式 GB/T 7714	Li K,Wang Z,Zhao XG,et al. Force Control of Flexible Integrated Joint Based on Model-free Adaptive Control[C]. 见:. Kuala Lumpur, Malaysia. December 12-15, 2018.