Finite-Time Motion/Force Control for Motion Synchronization of Multiple Manipulators

摘要：

　　This paper presents a new design of finite-time motion and force control for motion synchronization of multiple manipulators.Considering that the end-effectors of the multiple manipulators are constrained by synchronization motion,a reduced form of the dynamic model of multiple manipulators is derived to decouple position and force signals.Then an adaptive motion/force control law based on terminal sliding mode control is designed to drive the system variables to reach and retain in the terminal sliding mode and converge to zero in finite time.Finally,numerical simulation results for multiple two-link manipulators illustrate the expected performance.

关键词： finite-time control adaptive control motion synchronization motion/force control multiple manipulators

作者: CAO Qianlei LI Shurong ZHAO Dongya WANG Zhao

作者单位: College of Information and Control Engineering,China University of Petroleum(East China),Qingdao,266 College of Chemical Engineering,China University of Petroleum(East China),Qingdao,266580,China

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 2121-2126

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）