期刊
ALEXANDRIA ENGINEERING JOURNAL
卷 61, 期 6, 页码 4389-4397出版社
ELSEVIER
DOI: 10.1016/j.aej.2021.09.067
关键词
2-DOF manipulator; Force/bit mixing control; Fuzzy-PID; Simulation experiment
资金
- National Natural Science Foundation of China [52075530, 51575407, 51505349, 61733011, 41906177]
- Hubei Provincial Department of Education [D20191105]
- National Defense PreResearch Foundation of Wuhan University of Science and Technology [GF201705]
- Open Fund of the Key Laboratory for Metallurgical Equipment and Control of Ministry of Education in Wuhan University of Science and Technology [2018B07, 2019B13]
- Open Fund of Hubei Key Laboratory of Hydroelectric Machinery Design & Maintenance in Three Gorges University [2020KJX02]
This paper proposes a hybrid control method of auto-dynamic bit based on bit control to achieve flexible grasping of manipulator in unknown environment. By analyzing constraint conditions, establishing dynamic model, and introducing an improved position controller, the study successfully verifies the control performance of the force/bit hybrid controller.
In order to improve the operation performance and environmental adaptability of the manipulator, it is essential to control the position and force of the manipulator simultaneously. This paper proposed a hybrid control method of auto-dynamic bit based on bit control to realize flexible grasping of manipulator in unknown environment. The constraint conditions and control types of the hybrid force/bit control are analyzed firstly, and the dynamic model when contacting with the environment is established. Then, an improved position controller based on conventional fuzzy-PID control strategy is introduced to realize the hybrid force/bit control based on the position control by combining constraint estimation method and impedance force control. Finally, the control performance of the force/bit hybrid controller is verified by simulation experiments. The results show that the designed control strategy has relatively ideal force control precision and higher trajectory tracking ability, and the manipulator model has better compliance. (C) 2021 THE AUTHORS. Published by Elsevier BV on behalf of Faculty of Engineering, Alexandria University.
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