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第43届中国控制会议

作者： Ruidong Xia Jian Li Renjian Hao Jiawei Wang Chengxiao Wang China Academy of Space Technology

Space junk seriously affects spacecraft missions and occupies valuable space orbit resources. Continuum robots are of great research significance for capturing space junk due to their flexible nature. In this paper, a soft and smooth capture technology of continuum robot for space junk capture is studied. Firstly, the kinematic model and dynamic model of the continuum robot are established. Secondly, according to the uncertainty of application environment, an adaptive impedance control method of continuum robot is designed. To solve the problem of different size of space junk, a strategy of using different capturing methods according to the size of space junk is proposed, that is, using the actuator at the end of the robotic arm to capture small space junk,and using the robotic arm to capture large space junk. Finally, a soft and smooth capture experiment of space junk is carried *** experimental results show that the kinematic and dynamic models established in this paper are accurate, and the adaptive impedance control method is effective in capturing objects with different stiffness, and the proposed capture strategy is reliable.

关键词： Space robot Continuum robot Dynamic modeling adaptive impedance control

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adaptive impedance control Method for Industrial Manipulator Writing Based on Kalman Filter

Adaptive Impedance Control Method for Industrial Manipulator...

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第37届中国控制会议

作者： Qidan Zhu Xinru Xie Chao Li Guihua Xia College of Automation Harbin Engineering University

This paper presents an adaptive impedance control method based on Kalman filter to write Chinese characters for industrial manipulator. Kalman filter is used to estimate the actual contact force. For safety, the contact force is controlled to maintain constant using the adaptive impedance control method. There is no need for the knowledge of the environment. A robot Chinese characters writing system is designed to write characters on a stiff board. The writing experiment results verified the performance of the proposed method, and the trajectory and force can be tracked simultaneously.

关键词： characters writing adaptive impedance control Kalman filter industrial manipulator

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A Closed-Loop Dynamic controller for Active Vibration Isolation Working on A Parallel Wheel-Legged Robot

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Chinese Journal of Mechanical Engineering 2023年第3期36卷 147-160页

作者： Fei Guo Shoukun Wang Daohe Liu Junzheng Wang School of Automation Beijing Institute of TechnologyBeijing 100081China National Key Laboratory of Human Factors Engineering China Astronaut Research and Training CenterBeijing 100094China China State Shipbuilding Corporation Systems Engineering Research Institute Beijing 100048China

Serving the Stewart mechanism as a wheel-legged structure,the most outstanding superiority of the proposed wheel-legged hybrid robot(WLHR)is the active vibration isolation function during rolling on rugged ***,it is difficult to obtain its precise dynamic model,because of the nonlinearity and uncertainty of the heavy *** paper presents a dynamic control framework with a decentralized structure for single wheel-leg,position tracking based on model predictive control(MPC)and adaptive impedance module from inside to *** the Newton-Euler dynamic model of the Stewart mechanism,the controller first creates a predictive model by combining Newton-Raphson iteration of forward kinematic and inverse kinematic calculation of *** actuating force naturally enables each strut to stretch and retract,thereby realizing six degrees-of-freedom(6-DOFs)position-tracking for Stewart *** adaptive impedance control in the outermost loop adjusts environmental impedance parameters by current position and force feedback of wheel-leg along *** adjustment allows the robot to adequately control the desired support force tracking,isolating the robot body from vibration that is generated from unknown *** availability of the proposed control methodology on a physical prototype is demonstrated by tracking a Bezier curve and active vibration isolation while the robot is rolling on decelerate *** comparing the proportional and integral(PI)and constant impedance controllers,better performance of the proposed algorithm was operated and evaluated through displacement and force sensors internally-installed in each cylinder,as well as an inertial measurement unit(IMU)mounted on the robot *** proposed algorithm structure significantly enhances the control accuracy and vibration isolation capacity of parallel wheel-legged robot.

关键词： Wheel-legged hybrid robot adaptive impedance control Model predictive control Stewart mechanism Vibration isolation Parallel robot

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维普期刊数据库

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Data-Driven Human-Robot Interaction Without Velocity Measurement Using Off-Policy Reinforcement Learning

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 47-63页

作者： Yongliang Yang Zihao Ding Rui Wang Hamidreza Modares Donald C.Wunsch Key Laboratory of Knowledge Automation for Industrial Processes Ministry of Education School of Automation&Electrical EngineeringUniversity of Science and Technology BeijingBeijing 100083China School of Automation Beijng Institute TechnologyBeijing 100081China State Key Laboratory of Management and control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Mechanical Engineering Department Michigan State UniversityEast LansingMI 48824 USA Department of Electrical&Computer Engineering Missouri University of Science&TechnologyRollaMO 65401 USA

In this paper,we present a novel data-driven design method for the human-robot interaction(HRI)system,where a given task is achieved by cooperation between the human and the *** presented HRI controller design is a two-level control design approach consisting of a task-oriented performance optimization design and a plant-oriented impedance controller *** task-oriented design minimizes the human effort and guarantees the perfect task tracking in the outer-loop,while the plant-oriented achieves the desired impedance from the human to the robot manipulator end-effector in the ***-driven reinforcement learning techniques are used for performance optimization in the outer-loop to assign the optimal impedance *** the inner-loop,a velocity-free filter is designed to avoid the requirement of end-effector velocity *** this basis,an adaptive controller is designed to achieve the desired impedance of the robot manipulator in the task *** simulation and experiment of a robot manipulator are conducted to verify the efficacy of the presented HRI design framework.

关键词： adaptive impedance control data-driven method human-robot interaction(HRI) reinforcement learning velocity-free

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维普期刊数据库

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Design and Analysis of Joint-Assisted Exoskeleton control System of Upper Limb in Active Spacesuit

Design and Analysis of Joint-Assisted Exoskeleton Control Sy...

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第三十九届中国控制会议

作者： Zhaoyang Li Yuehong Dai Jiejun Hu Junyao Wang Peng Tang University of Electronic Science and Technology of China Research Center of Intelligent Aircraft System Technology and Application of UESTC Aircraft Swarm Intelligent Sensing and Cooperative control Key Laboratory of Sichuan Province

Based on joint-assisted exoskeleton technology, a concept of active spacesuit for future extraterrestrial exploration activities is presented. Firstly, we design the mechanical structure of joint-assisted exoskeleton of upper limb, and perform kinematic analysis on the upper limb to obtain the joint motion information when lifting load. We obtain the resistance torque of the spacesuit joint by the measuring equipment, and the total torque of the upper limb by the simplified two-links dynamic ***, we present the combination of adaptive impedance control and sliding mode control that based on CTC method. Finally, the prototype of joint-assisted exoskeleton robot of upper limb is fabricated and tested, and the experimental results indict that the control system can improve the trajectory tracking effect and eliminate the influences of environmental change. The research can not only help the astronauts more easily complete the task of collecting samples of the future manned space missions, but also provide a theoretical foundation for the subsequent research of active spacesuit.

关键词： Active Spacesuit Exoskeleton adaptive impedance control Upper Limb Extraterrestrial Exploration

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