Study on Variable Impedance Control of Hydraulic Manipulator Based on Double-Weighting-Factor Fuzzy Controller

2nd International Conference on Frontiers of Materials Synthesis and Processing

Li, Huaying^1 ; Wang, Fei^2 ; Zhang, Chuanqing^1 ; Chao, Zhiqiang^1

Department of Vehicle Engineering, Army Academy of Armored Forces, Beijing, China^1

Unit of PLA, Heibei, China^2

关键词: Control performance;    Environmental information;    Environmental parameter;    Environmental surfaces;    Hydraulic manipulator;    Three degree of freedoms;    Time-varying characteristics;    Variable impedance control;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/493/1/012027/pdf
DOI  :  10.1088/1757-899X/493/1/012027

来源: IOP

【 摘 要 】

To improve the force control and position control performance of the hydraulic series manipulator, the author presents a double-weighting-factor fuzzy variable impedance control method, in order to have the manipulator end track the expected force along the environmental surface. Based on the dynamic model of the three-degree-of-freedom hydraulic series manipulator, the contact space and free space of the impedance control are analysed. A fuzzy controller is designed while supposing that the environmental information is known, to get Bd and Kd adjusted. Considering the time-varying characteristics of the system, a fuzzy controller with double weighting factors is designed to enhance the self-adjusting capability and the performance of the fuzzy controller. The simulation result shows that the proposed method achieves a good tracking control of force and position when the environmental parameters are time-varying.