An intelligent strategy to robot coordination and control

摘要

Constructs an intelligent control strategy for the robust coordination and control of robot manipulators. Two strategic issues are considered for robot position/force control: (1) the effective integration of the low-level adaptive control law with the coordination-level intelligent system; (2) the design a robust robot controller to account for the contact forces frequently encountered in the execution of a specific task. The two-level hierarchical structure of an intelligent/adaptive control scheme can resolve a complex contact problem. On the control level, fast convergence and robustness properties are dealt with, and position and force control are applied separately to quasi-static contact problems. On the coordination level, the strategic fuzzy rule base is exploited to cope with uncertainties by utilizing a logic-branching feedback control. A technique for a real-time trajectory modifier is developed for complex tasks, and the pin-insertion problem is used to demonstrate the integration of both levels, including manipulator dynamics and positional uncertainty in the workspace.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>