Modeling and control of inherently safe robots with variable stiffness links
Modeling and control of inherently safe robots with variable stiffness links
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DOI：
10.1016/j.robot.2019.07.017
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发表时间：
2019-10
期刊：
影响因子：
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通讯作者：
Siyang Song;Xianpai Zeng;Y. She;Junmin Wang;H. Su
中科院分区：
文献类型：
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作者：
Siyang Song;Xianpai Zeng;Y. She;Junmin Wang;H. Su
本文研究了变刚度连杆固有安全机器人的建模、控制设计和轨迹规划问题。首先，采用伪刚体模型（PRBM）建立了VSL机器人的动力学模型。基于PRBM，提出了一种基于反馈线性化的控制器。为了提高系统的鲁棒性和抑制振动，设计了扩张状态观测器和挠度反馈。为保证飞行器的固有安全性，建立了安全轨迹规划问题，并将安全性准则转化为速度约束。与加加速度，加速度和速度上的约束，的故障规划问题制定为一个时间最优问题。利用最优控制理论导出了该问题的解析解。实验结果验证了该控制器的运动控制和振动抑制性能。冲击测试结果表明，VSL机器人的应用与物理人机交互的潜力。
In this paper, the modeling, control design, and trajectory planning for inherently safe robots with variable stiffness links (VSL) are investigated. Firstly, a dynamic model of VSL robots is developed using the pseudo-rigid-body model (PRBM). Based on PRBM, a feedback-linearization based controller is proposed. Extended state observer and deflection feedback are designed to improve the robustness and vibration suppression. To keep the inherent safety, a safe trajectory planning problem is formulated and the safety criterion is converted to a velocity constraint. With constraints on the jerk, acceleration, and velocity, the trajectory-planning problem is formulated as a time-optimal problem. The analytical solution of this problem is derived by optimal control theory. Experiments show the performances of motion control and vibration suppression of the proposed controller. The impact test results indicate the potential of VSL robots for applications with physical human–robot interaction.