Constraint-Oriented Nonsingular Terminal Sliding Mode Force-Position Control Method for Reconfigurable Manipulators

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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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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