Adaptive hybrid control of manipulators on uncertain flexible objects

摘要

This paper presents an adaptive hybrid control approach for a robot manipulator to interact with its flexible object. Because of its flexibility, the object dynamics influence the robot's control system, and since it is usually a distributed parameter system, the object dynamics as seen from the robot change when the robot moves. The problem becomes further complicated such that it is difficult to decompose the robot's position and contact force control loops. In this paper, we approximate the object's distributed parameter model into a lumped 'position state-varying' model. Then, by using the well-known nonlinear feedback compensation, we decompose the robot's control space into a position control subspace and object torque control subspace. We design the optimal state feedback for the position control loop and control the robot's contact force through controlling the resultant torque of the object. We use the model-reference simple adaptive control strategy to control the torque control loop. We also study the problem on how to select a reasonable reference model for this control loop. Experiments of a PUMA robot interacting with an aluminum beam show the effectiveness of our approach.