Finite Time Force/motion Control Of Robot Manipulators

In the past decades,the rapid development of robot technology has brought great convenience to people's production and life,but there are a lot of problems of robots for us to research,Undoubtedly,the force and position control of robot is the most attractive for researchers.The dynamic model of robot has the character of nonlinear and strong couple,which make the controller design of robot become more difficult.In order to make the robot realize the force position tracking quickly and accurately,this paper mainly studies the finite time force/motion control of robot based on sliding mode control.Firstly,the Lagrangian dynamic model of the robot system in the generalized coordinate system is established,and we construct the mathematical model of the robot in the impact environment.Combined with the two models,the hybrid system of the robot in the impact environment is formed.Then,a finite time motion/force tracking controller based on sliding mode control is designed for robot manipulator in generalized coordinate and workspace respectively.The stability of the controller is proved by Lyapunov stability theory.And the controller is applied to the hybrid robot dynamic in the impact environment,and obtained the finite time stable setting time of the hybrid robot system in the impact environment.Finally,two experiments of 2-DOF manipulator in generalized coordinate and workspace are designed,and numerical simulation is carried out by Matlab / Simulink.The simulation results show that the finite time force position controller can make the manipulator track the desired motion and force in the present time.