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An Improved Feedback Computed Torque Control Method for FS-SEA Flexible Manipulators

CHEN Peng;LI Hongyi;State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences;University of Chinese Academy of Sciences;General Robots Corp.,Shenyang;  
For flexible-joint manipulators based on FS-SEA( force sourced series elastic actuator),when their dynamic models are known,the feedback computed torque method is a very intuitional control method. However,for a system whose dynamic parameters are difficult to be determined accurately,which probably suffers an external impact as well,the traditional feedback computed torque method can hardly make a stable control. This paper proposed an improved control method based on the traditional feedback computed torque method. Through introducing an adaptive compensation term into the control law,the asymptotic stability of the control system was guaranteed in the case of inaccurate estimation of the manipulator's dynamic parameters or external force; through introducing a low-pass filter after the system's acceleration command,the control system's ability of resisting external impacts was enhanced significantly. The simulations demonstrated that controlling FS-SEA flexible manipulators with the improved feedback computed torque method could not only ensure system stability and tracking accuracy,but also offer the control system very strong impact resisting capability.
【Fund】: 国家磁约束核聚变能专项(2012GB102005)
【CateGory Index】: TP241
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