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具有输出误差约束的双臂机器人位置和力跟踪的规定时间控制

Prescribed time control of position and force tracking for dualarm robots with output error constraints.

作者信息

Hu Heyu, Wen Shengjun, Yu Jun

机构信息

Zhongyuan University of Technology, Zhengzhou, 450007, China.

出版信息

Sci Rep. 2025 Jan 25;15(1):3170. doi: 10.1038/s41598-025-86783-5.

DOI:10.1038/s41598-025-86783-5
PMID:39863670
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC11763265/
Abstract

This paper studies the practical prescribed-time control problem for dual-arm robots handling an object with output constraints. Firstly, by utilizing the property that the sum of internal forces in the grasping space is zero, the system model is obtained and decomposed into the contact force model and free motion model, which are orthogonal to each other. Furthermore, by combining the performance function and constraint function, the original system tracking error is transformed to a new one, whose boundedness can ensure that the original system variable converges to the predetermined range within the specified time. Then, a comprehensive neuroadaptive controller including position control term and contact control force control term is designed. Finally, the simulation results of two planar three link robots working together on a common object verify the effectiveness and superiority.

摘要

本文研究了具有输出约束的双臂机器人操作物体的实际预设时间控制问题。首先，利用抓取空间内力的总和为零这一特性，获得系统模型并将其分解为相互正交的接触力模型和自由运动模型。此外，通过结合性能函数和约束函数，将原系统跟踪误差转化为一个新的跟踪误差，其有界性可确保原系统变量在规定时间内收敛到预定范围。然后，设计了一种包括位置控制项和接触控制力控制项的综合神经自适应控制器。最后，两个平面三连杆机器人共同操作一个公共物体的仿真结果验证了该方法的有效性和优越性。

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