Adaptive multi-dimensional compliance control of a humanoid robotic arm with anti-windup compensation
Adaptive multi-dimensional compliance control of a humanoid robotic arm with anti-windup compensation
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DOI：
10.1109/iros.2010.5649128
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发表时间：
2010-10
期刊：
影响因子：
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通讯作者：
S. G. Khan;G. Herrmann;A. Pipe;C. Melhuish
中科院分区：
文献类型：
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作者：
S. G. Khan;G. Herrmann;A. Pipe;C. Melhuish
在笛卡尔空间中的人形 Bristol-Elumotion-Robotic-Torso II (BERT II) 手臂的 4 个自由度 (DOF) 上实时实现自适应多维顺从模型参考控制器。机器人操纵器的控制方式遵循参考质量-弹簧-阻尼器系统模型的顺从被动行为，该模型受到所有自由度中外部感测的力/扭矩的影响。相关参考模型将所有测量到的扭矩转换为末端执行器上的等效力并做出相应反应。建议的控制方案特别考虑了多变量方面以及测量外部扭矩时身体自身扭矩的问题。冗余自由度用于通过努力最小化以类人模式控制机器人运动。通过采用新型抗饱和 (AW) 补偿器解决了相关的执行器饱和问题。
An adaptive multi-dimensional compliance model reference controller was implemented in real-time on a 4 degrees of freedom (DOF) of the humanoid Bristol-Elumotion-Robotic-Torso II (BERT II) arm in Cartesian space. The robot manipulator has been controlled in such a way as to follow the compliant passive behaviour of a reference mass-spring-damper system model subject to externally sensed forces/torques in all DOF. The relevant reference model converts all measured torques into their equivalent forces at the end-effector and reacts accordingly. The suggested control scheme takes in particular account of the multi-variable aspect and the problem of body own torques when measuring external torques. The redundant DOF were used to control the robot motion in a human-like pattern via effort minimization. Associated actuator saturation issues were addressed by incorporating a novel anti-windup (AW) compensator.