Constrained manipulator dynamic models and hybrid control

J. Mills
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引用次数: 9

Abstract

Dynamic models which correctly describe the constrained motion of robotic manipulators during contact with rigid work environments are given. The existing hybrid control law is rewritten in terms of the state of these constrained dynamic models. The hybrid control law is shown to be a linear feedback of the deviation from the nominal state of the constrained manipulator dynamic equations of motion. This result is illustrated through reformulation of the generalized force due to contact in terms of the Lagrange multipliers, which properly account for the constraints imposed on the manipulator through contact with a rigid work environment. Thus, while it appears that the hybrid control scheme utilizes feedback of the generalized contact force, this feedback is shown to be more compactly written in terms of the Lagrange multipliers, leading to a reformulation of the hybrid feedback control law.<>
约束机械臂动力学模型与混合控制
给出了机器人在接触刚性工作环境时的约束运动的动力学模型。根据这些约束动态模型的状态改写了现有的混合控制律。混合控制律是约束机械臂运动方程标称状态偏差的线性反馈。这一结果是通过拉格朗日乘子对广义接触力的重新表述来说明的,该乘子适当地解释了通过与刚性工作环境接触而施加在机械手上的约束。因此,虽然混合控制方案似乎利用了广义接触力的反馈,但这种反馈被证明可以更紧凑地用拉格朗日乘子表示,从而导致混合反馈控制律的重新表述。
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