Dynamic Adaptive Hybrid Impedance Control for Dynamic Contact Force Tracking in Uncertain Environments
Dynamic Adaptive Hybrid Impedance Control for Dynamic Contact Force Tracking in Uncertain Environments
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DOI：
10.1109/access.2019.2924696
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发表时间：
2019-01-01
期刊：
影响因子：
3.9
通讯作者：
Zhao, Xue
中科院分区：
文献类型：
--
作者：
Cao, Hongli;Chen, Xiaoan;Zhao, Xue
近年来，由于机器人需要与外部世界进行更多的交互，机器人接触操作控制的重要性一直在增加。然而，传统的机器人柔顺控制不能同时考虑瞬态接触力超调和稳态力跟踪误差问题。为了解决这个问题，本文旨在设计一种动态自适应混合阻抗（DAHI）控制器来处理不确定环境中的动态接触力跟踪（例如，抛光场景）。在分析了混合阻抗控制（HI）和自适应混合阻抗控制（AHI）的瞬态响应和稳态误差的前提下，采用DAHI控制来改善AHI控制器的性能。DAHI控制结合了HI和AHI控制的优点。这种控制器的主要目标是避免接触阶段的力超调，同时保持动态跟踪阶段的力跟踪误差。所提出的控制器是能够适应其更新率参数在线，以跟踪参考力在不确定的环境。此外，它不需要对环境的动态或机器人的动态进行任何建模或估计。仿真和实验结果都表明了所实现的控制性能。并与以往的控制方法进行了比较。
The importance of robot contact operation control has been increasing recently due to a need for robots to interact more with the outside world. However, traditional robot compliance control cannot take both transient contact force overshoots and steady-state force tracking error problems into account. To address this problem, this paper aims to design a dynamic adaptive hybrid impedance (DAHI) controller to deal with dynamic contact force tracking in uncertain environments (e.g., polishing scenarios). Under the premise of analyzing the transient response and steady-state error in the hybrid impedance control (HI) and adaptive hybrid impedance (AHI) control, the DAHI control, which combines the advantages from HI and AHI control, is applied to improve the performance of AHI controller. The main goal of such a controller is to avoid force overshoots in the contact stage while maintaining force tracking error in the dynamic tracking stage. The proposed controller is capable of adapting its update rate parameter online in order to track a reference force in uncertain environments. Besides, it does not require any modeling or estimation of an environment's dynamics or the robot's dynamics. The simulation and experimental results both show the achieved control performance. The results have also been compared with the previous control methods.