Adaptive position/force control for coordinated multiple flexible-joint manipulators with time delay
LI Shu-rong
YIN Huai-qiang
Abstract：The gear clearance will expand due to the long running joint manipulators.Time delay results from the clear-ance,which also has influence on system tracking performance. To solve this problem,an adaptive position/force control strategy is proposed to guarantee the stability of the closed-loop system and tracking performance of the position/force. Firstly, the task space dynamic model for the system is given in this paper. Then the time delay is approximated as a second-order rational fraction by Pade theorem. Secondly,consider the model uncertainties,by utilizing a sliding mode consisting of position error and force error,a neural network adaptive controller is proposed.The control strategy can drive the closed-loop system states to reach the adopted sliding model surface and then both position and force errors can be guaranteed to converge zero.Finally,simulation results are presented to validate the proposed method.
Keywords：coordinated multiple manipulatorsflexible jointtime delayposition/force controlneural network controlsliding mode control
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：7( 1208-1214 )