Abstract
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.
Abstract (translated)
重载操作通常使用重型液压操纵器（HHMs）进行，由于跟踪误差或突然环境变化，容易受到环境接触。因此，在精确控制设计的基础上，确保无接触力传感器，这是主要无法利用的，是至关重要的。本文提出了一种新颖的力传感器less的稳健碰撞 resilient控制器，用于构成具有人形手臂和球形手腕机制的6度自由度（DOF）HHM。方案包括一个基于神经适应子系统的不稳定阻抗控制器，用于确保接触时HHMs的精确位置和姿态跟踪，以及一个新颖的泛克氏坐标系中首次引入的新通用动量观察器，用于估计冲击力。最后，通过利用虚稳定和虚功率流的概念，确保了整个系统的半全局唯一界。为了验证所提出方法的有效性和多样性，使用通用6度自由度工业HHM进行了广泛的实验。实验结果证实了设计方法出色的性能和多样性，通过实现亚毫米跟踪精度和接触冲击的80%减少，证实了设计方法非常有效。
URL
https://arxiv.org/abs/2408.09147
