基于模型的机械臂力控制系统的接触稳定性

S. Karunakar, A. Goldenberg
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引用次数: 11

摘要

研究了机械臂力控制中的稳定性问题。他们分析了四种众所周知的基于模型的力控制系统的稳定性:混合力控制、基于分解加速度的力控制、刚度控制和阻抗控制。该分析基于线性化模型并使用劳斯-赫维茨标准。结果表明,所研究的四种控制系统的稳定性取决于反馈增益和机械手结构。当手臂意外地与环境失去接触时,除混合控制外,所有控制系统都保持稳定。接触任务不稳定的原因是环境刚度矩阵增加了控制系统的等效位置增益。如果速度增益的选择仅仅基于位置增益,而忽略了较大的环境刚度,那么得到的系统将是高度欠阻尼的,并且可能不稳定。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Contact stability in model-based force control systems of robot manipulators
The authors address the stability problem in force control of robot manipulators. They analyze the stability of four well-known model-based force control systems: hybrid force control, resolved acceleration based force control, stiffness control, and impedance control. The analysis is based on linearized models and uses the Routh-Hurwitz criteria. The results show that the stability of the four control systems studied depends upon the feedback gains as well as the manipulator configuration. When an arm engaged in a contact task unexpectedly loses contact with the environment, all control systems studied except the hybrid control remain stable. The cause of instability in contact tasks is that the environmental stiffness matrix increases the equivalent position gain in the control system. If the velocity gain is chosen based only on the position gain neglecting a large environmental stiffness, the resulting system will be highly underdamped and possibly unstable.<>
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