Decentralized control for harmonic drive-based modular and reconfigurable robots with uncertain environment contact

doi:10.1177/1687814017696045

	Decentralized control for harmonic drive-based modular and reconfigurable robots with uncertain environment contact
	Dong, Bo1,2 ; Li, Yan 2; Liu, Keping 2
刊名	ADVANCES IN MECHANICAL ENGINEERING
	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.
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关键词	EXTENDED-STATE-OBSERVER ; SLIDING MODE CONTROL ; ROBUST-CONTROL ; FRICTION COMPENSATION ; TORQUE ESTIMATION ; MANIPULATORS ; SYSTEMS ; JOINT ; TIME ; TRANSMISSION
WOS研究方向	Thermodynamics ; Engineering
语种	英语
出版者	SAGE PUBLICATIONS LTD
WOS记录号	WOS:000400435400001
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
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/28046]
专题	中国科学院自动化研究所
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.