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Non-singular terminal sliding mode force position control method for constraint-oriented reconfigurable manipulator

A non-singular terminal and control method technology, applied in the field of robot control method and constrained system control, can solve the problems of chattering, slow convergence speed, low tracking accuracy, etc., to suppress chattering effect, increase system reliability and improve system reliability. The effect of stability and lower application cost

Active Publication Date: 2017-08-15
CHANGCHUN UNIV OF TECH
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Problems solved by technology

[0005] In order to solve the problems of low tracking accuracy, slow convergence speed and chattering in the traditional terminal sliding mode control force position control method, the present invention proposes a constraint-oriented non-singular terminal sliding mode force position control method for reconfigurable manipulators

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Embodiment Construction

[0044] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0045] The constraint-oriented non-singular terminal sliding mode force position control method of the reconfigurable manipulator described in the present invention is generally suitable for integrating standard modules and interfaces, and can recombine and configure its own configuration according to different task requirements. Construct the robotic arm system. Since the control method designed in the present invention is applicable to various manipulator configurations, two configurations A and B are selected as examples to illustrate the effectiveness of the method designed in the invention.

[0046] Such as figure 1 As shown, the configuration A of the application object of the non-singular terminal sliding mode force position control method for the constraint-oriented reconfigurable manipulator of the present invention, for the convenience of descripti...

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Abstract

The invention discloses a non-singular terminal sliding mode force position control method for a constraint-oriented reconfigurable manipulator, and belongs to the field of robot control methods and constrained system control methods. In order to solve the problems of low tracking precision, low convergence speed and buffeting in a conventional terminal sliding mode control force position control method, on the basis of building a system dynamic model of the constraint-oriented reconfigurable manipulator, a novel non-singular terminal sliding mode function is proposed, an RBF neural network is introduced for compensating unknown nonlinear items of a system, coupling items between joints and uncertain items of the model, and the non-singular terminal sliding mode force position control method is invented, so that the trajectory tracking error is converged to zero in finite time; and the controller has relatively good robustness, so that the buffeting effect of the controller is effectively suppressed, a control signal becomes smooth in the whole process, the trajectory tracking precision is ensured, and high-precision and micro-buffeting force position control of the reconfigurable manipulator system is realized.

Description

technical field [0001] The invention relates to a constraint-oriented non-singular terminal sliding mode force position control method of a reconfigurable manipulator, belonging to the field of robot control methods and constrained system control methods. Background technique [0002] A reconfigurable manipulator is a kind of assembly combination composed of robot modules of different sizes and functional characteristics, which can be reconfigured into a variety of manipulator configurations to meet the requirements of different tasks under different external constraints. Compared with traditional robotic arms, reconfigurable robotic arms have great application value in aerospace manufacturing, space exploration, medical rescue, commercial services and other fields due to their flexible structure and low cost. [0003] In practical applications, both force and position of a constraint-oriented reconfigurable manipulator system need to be precisely controlled. However, in th...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50B25J9/22
CPCB25J9/1664G06F30/17G06F2111/04
Inventor 董博武帅刘克平李元春
Owner CHANGCHUN UNIV OF TECH
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