کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
7110370 | 1460673 | 2018 | 14 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Nonlinear position and stiffness Backstepping controller for a two Degrees of Freedom pneumatic robot
ترجمه فارسی عنوان
موقعیت غیر خطی و کنترل سخت افزاری برای دو درجه ربات پنوماتیک آزادی
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کلمات کلیدی
طراحی کنترل کننده پشتی، کنترل کمپرسور، ربات الکترومغناطیسی، کنترل غیرخطی کنترل سختی،
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی هوافضا
چکیده انگلیسی
This paper presents an architecture of a 2 Degrees of Freedom pneumatic robot which can be used as a haptic interface. To improve the haptic rendering of this device, a nonlinear position and stiffness controller without force measurement based on a Backstepping synthesis is presented. Thus, the robot can follow a targeted trajectory in Cartesian position with a variable compliant behavior when disturbance forces are applied. An appropriate tuning methodology of the closed-loop stiffness and closed-loop damping of the robot is given to obtain a desired disturbance response. The models, the synthesis and the stability analysis of this controller are described in this paper. Two models are presented in this paper, the first one is an accurate simulation model which describes the mechanical behavior of the robot, the thermodynamics phenomena in the pneumatic actuators, and the servovalves characteristics. The second model is the model used to synthesize the controller. This control model is obtained by simplifying the simulation model to obtain a MIMO strict feedback form. Finally, some simulation and experimental results are given and the controller performances are discussed and compared with a classical linear impedance controller.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Control Engineering Practice - Volume 73, April 2018, Pages 26-39
Journal: Control Engineering Practice - Volume 73, April 2018, Pages 26-39
نویسندگان
Nicolas Herzig, Richard Moreau, Tanneguy Redarce, Frédéric Abry, Xavier Brun,