Position/Force Control of Robot Manipulators in the Presence of Uncertainty

提出了一种新的位置/力控制分解方法，用于约束机器人操作控制策略的制定。针对单个n关节非冗余机械臂或两个协作机械臂，可以从相应的解耦模型中开发出独立的位置和力控制器。位置控制器可以补偿机械臂动力学中自然存在的相关不确定性。利用这种新的控制分解来研究：1)不同位置/力分解的优缺点，2)表面不确定性与任何机械手动态不确定性的影响，3)通过计算机仿真和实验，不同控制方案的优缺点，4)多个传感器与先进位置/力控制器的结合使用，5)执行器和传感器动力学对位置/力控制器性能的影响。如果能解决上述问题，那么将机器人机械手集成到汽车、飞机、水面舰艇、航天器、电器等制造中就会变得容易得多。

A new position/force control decomposition is suggested for the formulation of control strategies for constrained robot manipulation. Separate position and force controllers can be developed from the corresponding decoupled model for a single n- joint nonredundant manipulator or two cooperating robot arms. The position controllers can compensate for the associated uncertainty naturally present in the robot arm dynamics. This new control decomposition is utilized to research: 1) the advantages and disadvantages of different position/force decompositions, 2) the effects of surface uncertainty in conjunction with any manipulator dynamic uncertainty, 3) the advantages and disadvantages of different control schemes through computer simulation and experimentation, 4) the use of multiple sensors in conjunction with advanced position/force controllers, 5) the effects of actuator and sensor dynamics on position/force controller performance. If the above problems can be solved, the integration of robot manipulators into the manufacturing of automobiles, planes, surface-ships, spacecraft, appliances, etc, will become much easier.