Force/motion hybrid control of three link constrained manipulator using sliding mode

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 空间自动化技术研究室

	Force/motion hybrid control of three link constrained manipulator using sliding mode
	Ren HC(任虎存)1,2 ; Kong WG(孔维国)1,2; Zhang W(张伟)1,2 ; Gao S(高升)1,2; Jin BP(金博丕)1,2
	2019
会议日期	August 8-11, 2019
会议地点	Shenyang, China
关键词	Three link constrained manipulator Dynamic model Sliding mode Force/Motion hybrid control
页码	419-432
英文摘要	In order to realize the position control and contact force control of a class of planar three link constrained manipulators end-effector, a hybrid control strategy based on sliding mode controller is proposed. First, the dynamic model of the planar three link constrained manipulator is given. Then, the model order reduction design for the constrained manipulator is proposed with using the constraint condition. Furthermore, a controller based on sliding mode is presented and the tracking error of position and contact force is shown to be globally asymptotically stable via Lyapunov stability theory. Finally, numerical simulations of a planar three link constrained manipulator are performed to illustrate the effectiveness of the proposed control scheme. © Springer Nature Switzerland AG 2019.
产权排序	1
会议录	Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings
会议录出版者	Springer Verlag
会议录出版地	Berlin
语种	英语
ISSN号	0302-9743
ISBN号	978-3-030-27528-0
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/25507]
专题	沈阳自动化研究所_空间自动化技术研究室
通讯作者	Zhang W(张伟)
作者单位	1.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式 GB/T 7714	Ren HC,Kong WG,Zhang W,et al. Force/motion hybrid control of three link constrained manipulator using sliding mode[C]. 见:. Shenyang, China. August 8-11, 2019.