控制理论(社会学)
同步(交流)
机器人
对偶(语法数字)
非线性系统
计算机科学
职位(财务)
阻抗控制
运动(物理)
模型预测控制
运动控制
理论(学习稳定性)
控制工程
工程类
控制(管理)
人工智能
物理
艺术
财务
频道(广播)
经济
文学类
机器学习
量子力学
计算机网络
作者
Yuhao Zhang,Xingwei Zhao,Bo Tao,Han Ding
出处
期刊:IEEE Transactions on Industrial Electronics
[Institute of Electrical and Electronics Engineers]
日期:2023-01-01
卷期号:70 (1): 582-593
被引量:2
标识
DOI:10.1109/tie.2022.3150090
摘要
Humans can simultaneously exert force and maintain motion states on both arms with synchronous attributes to accomplish interactive cooperation tasks. To endow dual robots with the same remarkable capability, a multi-objective synchronization control scheme is investigated in this article. The feedback laws for each robot are twofold. Specifically, the integral of the past synchronization force errors is adopted to design an impedance-based force feedback law. Moreover, the integral of the future predicted synchronization motion errors is used to establish a motion feedback law based on the nonlinear model predictive policy. The stability of the closed-loop system is theoretically proven. The practical performance of the proposed method is verified by a dual-robot mirror grinding experiment, where each robot exhibits high-accuracy motion capability and force compliance behavior. The experiment results show that the synchronization accuracy of position, velocity, and force is within 1 mm, 0.1 mm/s, and 1 N, respectively.
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