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Adaptive Fuzzy Sliding Mode Controller with Nonlinear Observer for redundant manipulators Handling Varying External Force

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Journal of Bionic Engineering 2016年第4期13卷 600-611页

作者： Jun He Minzhou Luo Qingqing Zhang Jianghai Zhao Linsen Xu Department of Automation School of Information Science of Technology University of Science and Technology of China HeJei 230026 China Institute of Advanced Manufactcturing and Technology Hefei Institute of Physical Science Chinese Academy of Sciences Changzhou 213164 China School of Mechanical and Electrical Engineering Hohai University Changzhou 213264 China School of Engineering Science University of Seience and Technology of China Hefei 230026 China

An Adaptive Fuzzy Sliding Mode Controller with Nonlinear Observer （AFSMCO） for the redundant robotic manipulator is proposed in this paper. This approach could achieve a precise trajectory tracking for a robot manipulator in the presence of uncertainties and disturbances. Primarily, a suitable observer using the recursive algorithm is presented for an accurate estima- tion of external disturbances caused by the varying external force. Secondly, the adaptive fuzzy logic is designed to approximate the parameters of the sliding mode controller （AFSMC） to avoid chattering in real time. Moreover, it is shown using the Lyapunov theory that the tracking error asymptotically converges to zero. Finally, the effectiveness of the proposed control approach and theoretical discussion are demonstrated by simulation results on a 7-1ink robot and tested on a 7-DOF manipulator platform.

关键词： fuzzy logic adaptive control redundant manipulators nonlinear observer

Kinematic Control for redundant manipulators With Time Dependent Constraints: General-Weighted Least-Norm Method

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Kinematic Control for Redundant Manipulators With Time Depen...

第26届中国控制与决策会议

作者： Pei Jiang Ji Xiang Wei Wei Department of System Science and Engineering College of Electrical EngineeringZhejiang University

ISBN: (纸本)9781479937097

This paper extends the General-Weighted Least-Norm（GWLN） method to the control problem of redundant manipulators with time dependent constraints. By defining virtual joints presenting the time dependent constraint and a time-dependent coordinates transformation, a middle kinematic control problem with only joint limits is obtained. We then apply the GWLN method on the middle problem that is time independent. We also improve the GWLN method by replacing the prediction step in implementation algorithm of the GWLN method with a new weighted matrix. To demonstrate the efficacy of the method, simulations are carried out on five-link welding manipulator to track welding trajectory meanwhile guaranteeing time dependent orientation constraint and keeping away from joint limits.

关键词： GWLN method kinematics time dependent constraint redundant manipulators welding control.

A Varied Weights Method for the Kinematic Control of redundant manipulators With Multiple Constraints

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A Varied Weights Method for the Kinematic Control of Redunda...

第三十届中国控制会议

作者： XIANG Ji,ZHONG Congwei,WEI Wei Department of System Science and Engineering,College of Electrical Engineering,Zhejiang University,P.R.China.

＜正＞This paper proposes a varied weights（VW） method for the kinematic control of redundant manipulators with multiple *** constraint has a varied weight factor to reflect its transition from the inactive state to the active *** every control loop,only the main task and the active constraint subtasks are considered.A new concept of effective singular value is presented for the design of the damping factor to avoid the pseudo-singularity due to the transition of weight *** experiments on the seven-degree-of-freedom Ping-Pong manipulator illustrate the efficacy of the proposed VW method.

关键词： Varied Weights(VW) Method Kinematic Control redundant manipulators Multiple Constraints Effective Singular Value

Inverse Kinematic Control Method of redundant manipulators with Joint Limits Constraints

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Inverse Kinematic Control Method of Redundant Manipulators w...

第37届中国控制会议

作者： Ting Fei Xin Chen Jiafeng Xu School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

For the control problem of redundant manipulators with joint limits constraints, a novel method combining the simplified clamping weighted least-norm method and the typical gradient projection method is proposed in this paper. The method solves the problem that the manipulability of the redundant manipulator is poor caused by the clamping weighted least-norm method and makes the joint velocity change more smoothly. The proposed novel method is implemented on a kinematic redundant manipulator with four degree-of-freedom（DOF） which belongs to the dulcimer music-playing robot. The numerical simulation results show that the joint positions are well-bounded within the joint limits and the manipulator has a good performance for tracking a given trajectory.

关键词： redundant manipulators Joint limits Inverse kinematic control

COMPLEX NUMBER MODE APPROACH FOR REDUCING VIBRATION OF STRUCTURAL FLEXIBLE redundant ROBOT manipulators

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Chinese Journal of Mechanical Engineering 2001年第2期14卷 102-105页

作者： Wu Licheng Sun Zengqi Sun Fuchun Department of Computer Science and Technology, Qinghua University Lu Zhen Yu Shouqian Zheng Hong Beijing University of Aeronautics and Astronautics 清华大学计算机科学与工程系北京北京航空航天大学北京

A complex number mode analysis approach is proposed for vibration reducing of structural flexible redundant manipulators by utilizing self motion. In the proposed approach, the self motion is evaluated to nullify the modal exciting force of flexural motion, and the approach can be freely used when the degree of freedom of flexural motion is much greater than the available degree of reundancy. The availability and effectiveness of the proposed approach are demonstrated through numerical simulation with a four link spatial robotic manipulator possessing an end flexible link.

关键词： redundant manipulators Self motion Vibration reducing Complex number mode analysis

Active Control of Elastodynamic Response of Flexible redundant Robot manipulators

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Chinese Journal of Aeronautics 2002年第2期15卷 109-114页

作者：宋轶民余跃庆张策 School of Mechanical Engineering Tianjin University Tianjin 300072 China School of Mechanical Engineering Beijing Polytechnic University Beijing 100022 China

This paper presents an analytical investigation into activevibration control of flexible redundant robot manipulators featuringpiezoelectric actuators and strain gage sensors. The state-sp- aceexpression of the discrete time-varying dynamic system is developedfirstly. The LQR optimal control law is presented based upon thediscrete Minimum Principle. Moreover, an approximate method isproposed for estimating the state information of the system. Finally,a planar 3R flexible redundant manipulator is utilized as anillustration example. The simulation results show that the dy- namicperformance of the manipulator has been improved significantly.

关键词： flexible manipulatos redundant manipulators vibration active control

Motion planning for redundant prismatic-jointed manipulators in the free-floating mode

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Acta Mechanica Sinica 2012年第5期28卷 1449-1456页

作者： Xiao-Dong Liu He-Xi Baoyin Xing-Rui Ma School of Aerospace Tsinghua University

This paper investigates the motion planning of redundant free-floating manipulators with seven prismatic joints. On the earth, prismatic-jointed manipulators could only position their end-effectors in a desired way. However, in space, the end-effectors of free-floating manipulators can achieve both the desired orientation and desired position due to the dynamical coupling between manipulator and satellite movement, which is formally expressed by linear and angular momentum conservation laws. In this study, a tractable algorithm particle swarm optimization combined with differential evolution （PSODE） is provided to deal with the motion planning of redundant free-floating prismatic-jointed manipulators, which could avoid the pseudo inverse of the Jacobian matrix. The polynomial functions, as argument in sine functions are used to specify the joint paths. The co- efficients of the polynomials are optimized to achieve the desired end-effector orientation and position, and simulta- neously minimize the unit-mass-kinetic energy using the redundancy. Relevant simulations prove that this method pro- vides satisfactory smooth paths for redundant free-floating prismatic-jointed manipulators. This study could help to recognize the advantages of redundant prismatic-jointed space manipulators.

关键词： Motion planning - Prismatic joints - Space manipulators redundant manipulators Free-floating robots ~Nonholonomic planning

Development of a cable-driven redundant space manipulator with large bending angle by combining quaternion joints and segmented coupled linkages mechanism

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Chinese Journal of Aeronautics 2023年第11期36卷 483-499页

作者： Taiwei YANG Jian HUANG Wenfu XU Ke SHAO Bin LIANG School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Department of Automation Tsinghua UniversityBeijing 100854China

A cable-driven redundant manipulator has significant potential in confined space applications, such as environmental exploration, equipment monitoring, or maintenance. A traditional design requires 3N driving motors/cables to supply 2N degrees of freedom(DOF) movement *** number of motors is 1.5 times that of the joints’ DOF, increasing the hardware cost and the complexity of the kinematics, dynamics, and control. This study develops a novel redundant space manipulator with decoupled cable-driven joints and segmented linkages. It is a 1680 mm continuum manipulator with eight DOF, consisting of four segmented linkages driven by eight motors/pairs of cables. Each segment has two equivalent DOF, which are realized by four quaternion joints synchronously driven by two linkage cables. The linkage cables of adjacent joints are symmetrically decoupled and offset at 180°. This design allows equal-angle movement of all the joints of each segment. Moreover, each decoupling driving mechanism is designed based on a pulley block composed of two fixed and movable pulleys. The two movable pulleys realize the opposite but equidistant motions of the two driving cables, i.e., pulling and loosening, assuring symmetrical movements of the two driving cables of each segment. Consequently, the equivalent 2N-DOF joints are driven only by 2N motors, significantly reducing the hardware cost and simplifying the mapping relationship between the motor angle/cable length and the joint angle. Furthermore, the bending range of each segment could reach 360°, which is three times that of a traditional design. Finally, a prototype has been developed and experimented with to verify the performance of the proposed mechanism and the corresponding algorithms.

关键词： Cable-driven Mechanism design redundant manipulators Segmented linkages Kinematics

Acceleration-Level Inverse-Free G2 Scheme for Inverse Kinematics Path Tracking of Robot manipulators

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Acceleration-Level Inverse-Free G2 Scheme for Inverse Kinema...

第36届中国控制会议

作者： Jiawei Luo Jun Zhang Zhiyong Xie Xiaoyin Zhang Lin Xiao Xiao Su Pingxiang University Jiangxi Vocational College of Industry and Engineering College of Information Science and Engineering Jishou University

ISBN: (纸本)9781538629185

The mature analysis formula has been well used in the robotic forward kinematics for redundant manipulators,but the inverse-kinematics（IK） question is *** methods have been adopted to resolve the complicated inverse-kinematics problem;for example,the previous pseudo-inverse based（PIB） method that have to calculate the computationally expensive inverse（specifically,pseudo-inverse） of Jacobian ***,this method brings a lot of defects and *** that,to drastically avoid the Jacobian inversion and also to obtain the accurate solution of the time-varying IK problem for redundant robot manipulators,it is necessary to indagate other inverse-kinematics schemes through applying the related dynamic *** on many previously excellent researches,the dynamic methods used in this paper consist of gradient dynamics（GD）.By using GD kinematic method twice,a scheme called G2 is studied for solving the redundancy question of robot manipulators in an inverse-free *** a representative application of GD method,the G2 scheme,which is exploited at the acceleration level instead of the velocity ***,we conduct the end-effector path-tracking simulations performed on planar robot manipulators of different links to substantiate the effectiveness and accuracy of the proposed inverse-free G2 *** results illustrate the physical reahzability of the proposed novel solution for handling the time-varying IK problem of the redundant robot manipulator（s） in an inverse-free manner.

关键词： Inverse Kinematics Question Gradient Dynamics Inverse-Free G2 Scheme redundant manipulators PathTracking