Improved hybrid position/force controller design of a flexible robot manipulator using a sliding observer

作     者：Farooq M Wang Daobo Dar N. U 

作者机构：Coll. of Automation Engineering Nanjing Univ. of Aeronautics & Astronautics Nanjing 210016 P. R. China Coll. of Mechanical Engineering Univ. of Engineering and Technology Taxila Pakistan 

出 版 物：《Journal of Systems Engineering and Electronics》 (系统工程与电子技术（英文版）)

年 卷 期：2009年第20卷第1期

页      码：146-158页

摘      要：An improved hybrid position/force controller design of a flexible robot manipulator is presented using a sliding observer. The friction between the end effector and the environment is considered and compensated. For systematic reasons the controller is designed taking into consideration the rigid link subsystems and the flexible joints. The proposed control system satisfies the stability of the two subsystems and copes with the uncertainty of robot dynamics. A sliding observer is designed to estimate the time derivative of the torque applied as input to the rigid part of the robot. For the stability of the observer, it is assumed that the uncertainty of the observed system is bounded. A MRAC algorithm is used for the estimation of the friction forces at the contact point between the end effector and the environment. Finally simulation and experimental results are given, to demonstrate the effectiveness of the proposed controller.

主 题 词：force control sliding control Lyapunov stability robot end effector friction force. 

学科分类：080202[080202] 08[工学] 0804[工学-材料学] 0835[0835] 0802[工学-机械学] 080201[080201] 

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