面向重型液压机械臂的抗冲击协同鲁棒控制器
Impact-Resilient Orchestrated Robust Controller for Heavy-duty Hydraulic Manipulators
AI总结：
针对重型液压机械臂作业易受环境冲击且难以依赖接触力传感器的问题，提出结合神经自适应阻抗控制器与Plücker坐标广义动量观测器的无力传感器抗冲击控制器，经实验验证实现亚厘米级跟踪精度与80%冲击削减。
摘要：
重型作业通常借助重型液压机械臂（heavy-duty hydraulic manipulators, HHMs）开展，这类作业易因跟踪误差或突发环境变化而受到环境接触冲击。因此，除了精准的控制设计外，机械臂还需在不依赖多数情况下无法使用的接触力传感器的前提下，具备应对潜在冲击的恢复能力，这一点至关重要。本文针对由拟人化臂和球腕机构构成的通用6自由度（6-degree-of-freedom, DoF）HHM，提出了一种新型无力传感器鲁棒抗冲击控制器。该方案包含两部分：一是基于神经自适应子系统的阻抗控制器，旨在同时保证位置与姿态的精确跟踪，并使HHM在接触时保持稳定；二是新型广义动量观测器，首次采用Plücker坐标实现，用于估计冲击力。最后，借助虚拟稳定性和虚拟功率流的概念，证明了整个系统的半全局一致最终有界性。为验证所提方法的有效性与通用性，研究人员使用一台通用6自由度工业HHM开展了大量实验。实验结果证实了该设计方法的优异性能：其跟踪精度可达亚厘米级，且接触冲击力降低了80%。
英文摘要：
Heavy-duty operations, typically performed using heavy-duty hydraulic manipulators (HHMs), are susceptible to environmental contact due to tracking errors or sudden environmental changes. Therefore, beyond precise control design, it is crucial that the manipulator be resilient to potential impacts without relying on contact-force sensors, which mostly cannot be utilized. This paper proposes a novel force-sensorless robust impact-resilient controller for a generic 6-degree-of-freedom (DoF) HHM constituting from anthropomorphic arm and spherical wrist mechanisms. The scheme consists of a neuroadaptive subsystem-based impedance controller, which is designed to ensure both accurate tracking of position and orientation with stabilization of HHMs upon contact, along with a novel generalized momentum observer, which is for the first time introduced in Plücker coordinate, to estimate the impact force. Finally, by leveraging the concepts of virtual stability and virtual power flow, the semi-global uniformly ultimately boundedness of the entire system is assured. To demonstrate the efficacy and versatility of the proposed method, extensive experiments were conducted using a generic 6-DoF industrial HHM. The experimental results confirm the exceptional performance of the designed method by achieving a subcentimeter tracking accuracy and by 80% reduction of impact of the contact.
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