Neural Control of a Robotic Manipulator in Contact with a Flexible and Uncertain Environment

IF 16.4 1区化学 Q1 CHEMISTRY, MULTIDISCIPLINARY

Accounts of Chemical Research Pub Date : 2023-07-15 DOI:10.2478/ama-2023-0050

P. Gierlak

引用次数: 0

Abstract

Abstract This article presents the synthesis of a neural motion control system of a robot caused by disturbances of constraints limiting the movement, which are the result of flexibility and disturbances of the contact surface. A synthesis of the control law is presented, in which the knowledge of the robot’s dynamics and the parameters of a susceptible environment is not required. Moreover, the stability of the system is guaranteed in the case of an inaccurately known surface of the environment. This was achieved by introducing an additional module to the control law in directions normal to the surface of the environment. This additional term can be interpreted as the virtual viscotic resistance and spring force acting on the robot. This approach ensured the self-regulation of the robot’s interaction force with the compliant environment, limiting the impact of the geometrical inaccuracy of the environment.

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柔性不确定环境下机器人机械手的神经控制

摘要:本文综合了机器人的神经运动控制系统，该系统是由柔性和接触面扰动引起的约束干扰所引起的。提出了一种不需要机器人动力学知识和敏感环境参数的综合控制律。此外，在环境表面不准确的情况下，系统的稳定性得到了保证。这是通过在与环境表面垂直的方向上向控制律引入额外的模块来实现的。这个附加项可以解释为作用在机器人上的虚拟粘阻力和弹簧力。该方法保证了机器人与柔顺环境的相互作用力的自我调节，限制了环境几何不精度的影响。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Accounts of Chemical Research 化学-化学综合

CiteScore

31.40

自引率

1.10%

发文量

312

审稿时长

2 months

期刊介绍： Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance. Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.