Design of Admittance Control with Sliding Mode for Elbow Joint Actuated by Pneumatic Muscle

doi:10.3969/j.issn.1000-1093.2018.06.025

Abstract

Abstract: The compliance control is a research focus of human-robot collaboration. For the dynamic model of the cascaded elbow joint actuated by pneumatic muscle, a control structure is established with sliding mode position control as inner loop and contact force admittance control as outer loop. A sliding mode controller with disturbance observer (SMCDO) is designed, and the convergence of SMCDO control algorithm can be illustrated. An admittance controller is designed as the outer loop and the control law is given by treating the environment as a spring model. A real experimental platform is built to test the threshold force, security threshold force, and collision for the handshaking action, and also analyze the influence of stiffness parameter on the angle modified trajectory and contact force. Experimental results show that the compliance is related to stiffness parameter, and the control accuracy of SMCDO admittance controller is higher than that of the SMC admittance controller without disturbance observer. The proposed control algorithm is stable and effective.Key

Key words: human-robot, pneumaticmuscle, elbowjoint, slidingmodecontrol, admittancecontrol, contactforce

CLC Number:

TP241.3

WANG Bin-rui, JIN Ming-tao, SHEN Guo-yang, JIN Ying-lian, CHEN Di-jian. Design of Admittance Control with Sliding Mode for Elbow Joint Actuated by Pneumatic Muscle[J]. Acta Armamentarii, 2018, 39(6): 1233-1238.

References

［1］何玉庆, 赵忆文, 韩建达, 等. 与人共融——机器人技术发展的新趋势[J]. 机器人产业, 2015(5): 74-80.
HE Yu-qing, ZHAO Yi-wen, HAN Jian-da, et al. Co-existence with humans-the new trend of robot technology development[J]. Robot Industry, 2015(5): 74-80. (in Chinese)
[2］丁汉. 共融机器人的基础理论和关键技术[J]. 机器人产业, 2016(6): 12-17.
DING Han. The basic theory and key technology of human-robot harmony[J]. Robot Industry, 2016(6): 12-17. (in Chinese)
[3］ Jamwal P K, Hussain S, Ghayesh M H, et al. Impedance control of an intrinsically compliant parallel ankle rehabilitation robot[J]. IEEE Transactions on Industrial Electronics, 2016, 63(6): 3638-3647.
[4］ Li Z J, Huang Z C, He W, et al. Adaptive impedance control for an upper limb robotic exoskeleton using biological signals[J]. IEEE Transactions on Industrial Electronics, 2017, 64(2): 1664-1674.
[5］ Culmer P, Jackson A, Levesley M C, et al. An admittance control scheme for a robotic upper-limb stroke rehabilitation system[C]∥Proceedings of the 27th Annual International Conference on the Engineering in Medicine and Biology Society. Shanghai: IEEE, 2006: 5081-5084.
[6］韩亚丽, 许有熊, 高海涛, 等. 基于导纳控制的膝关节外骨骼摆动控制研究[J]. 自动化学报, 2016, 42(12): 1943-1950.
HAN Ya-li, XU You-xiong, GAO Hai-tao, et al. Kneejoint exoskeleton swing control with admittance control[J]. Acta Automatica Sinica, 2016, 42(12): 1943-1950. (in Chinese)
[7］ Yu W, Rosen J, Li X. PID admittance control for an upper limb exoskeleton[C]∥Proceedings of American Control Conference. San Francisco，CA，US：IEEE, 2011: 1124-1129.
[8］ Dimeas F, Moulianitis V C, Papakonstantinou C, et al. Manipulator performance constraints in Cartesian admittance control for human-robot cooperation[C]∥ Proceedings of IEEE International Conference on Robotics and Automation. Stockholm, Sweden: IEEE, 2016: 3049-3054.
[9］ Dimeas F, Aspragathos N. Online stability in human-robot cooperation with admittance control[M]. Atlanta，GA, US: IEEE, 2016.

[10］ Ayas M S, Altas I H. Fuzzy logic based adaptive admittance control of a redundantly actuated ankle rehabilitation robot[J]. Control Engineering Practice, 2017, 59: 44-54.
[11］ Landi C T, Ferraguti F, Sabattini L, et al. Admittance control parameter adaptation for physical human-robot interaction[C]∥Proceedings of the 2017 IEEE International Conference on Robo-tics and Automation. Singapore: IEEE, 2017: 2911-2916.
[12］ Ott C, Mukherjee R, Nakamura Y. Unified impedance and admittance control[C]∥Proceedings of the 2010 IEEE International Conference on Robotics and Automation. Alaska,US：IEEE, 2010: 554-561.
[13］ Ott C, Mukherjee R, Nakamura Y. A hybrid system framework for unified impedance and admittance control[J]. Journal of Intelligent & Robotic Systems, 2015, 78(3): 359-375.
[14］王斌锐, 沈国阳, 金英连, 等. 基于干扰观测器的级联气动肌肉肘关节滑模控制[J]. 兵工学报, 2017, 38(4): 793-801.
WANG Bin-rui, SHEN Guo-yang, JIN Ying-lian, et al. Sliding mode control of cascade pneumatic muscles of elbow joint based on disturbance observer[J]. Acta Armamentarii, 2017, 38(4): 793-801. (in Chinese)
[15］刘金琨. 滑模变结构控制MATALB仿真：基本理论与设计方法[M]. 北京: 清华大学出版社，2015.
LIU Jin-kun. The sliding mode variable structure control MATLAB simulation:basic theory and design method[M]. Beijing: Tsinghua University Press, 2015. (in Chinese)

第39卷第6期
2018 年6月兵工学报ACTA
ARMAMENTARIIVol.39No.6Jun.2018

[1]	CHEN Luming，LIAO Zili，ZHANG Zheng. Acceleration Slip Regulation for Multi-wheel Hub Motor Driven Vehicles Based on Road Adaptive [J]. Acta Armamentarii, 2021, 42(10): 2278-2290.
[2]	NIE Shoucheng， QIAN Linfang， CHEN Zhiqun， WEI Yukai， YIN Qiang. Adaptive Sliding Mode Control for Electro-hydraulic Servo System of Ammunition Manipulator Based on Disturbance Observer [J]. Acta Armamentarii, 2020, 41(9): 1745-1751.
[3]	CHEN Shengfu, CHANG Sijiang, WU Fang. A Sliding Mode Guidance Law for Impact Time Control with Field of View Constraint [J]. Acta Armamentarii, 2019, 40(4): 777-787.
[4]	FAN Wei， SU Zizhou， FAN Tianfeng, ZHANG Tao， ZHANG Honghai， LIU Yong. Geometry Design and Contact Force Analysis of C-shaped Monolithic Armature [J]. Acta Armamentarii, 2019, 40(10): 1969-1976.
[5]	ZHANG Yun，GUO Zhen-wu，CHEN Di-jian，WANG Bin-rui. Gait Control of Quadruped Robot Driven by Pneumatic Muscle Based on Kimura Oscillator and Virtual Model [J]. Acta Armamentarii, 2018, 39(7): 1411-1418.
[6]	XING Yan-chang, LYU Qing-ao, LEI Bin, XIANG Hong-jun, CHEN Jian-wei, YUAN Xi-chao. Analysis of Melting Erosion Characteristic on the Contact Interface between U-shaped Armature and Rails for Multiturn Serial-parallel Railgun [J]. Acta Armamentarii, 2018, 39(11): 2081-2091.
[7]	WANG Bin-rui， SHEN Guo-yang， JIN Ying-lian， WANG Ling. Sliding Mode Control of Cascade Pneumatic Muscles of Elbow Joint Based on Disturbance Observer [J]. Acta Armamentarii, 2017, 38(4): 793-801.
[8]	LI Ge-qiang， GU Yong-sheng， LI Jian， LI Yue-song， GUO Bing-jing. Adaptive Backstepping Sliding Mode Control of Passive Electro-hydraulic Force Servo System [J]. Acta Armamentarii, 2017, 38(3): 616-624.
[9]	ZHOU Huan-yin , LIU Ya-ping, HU Zhi-qiang, LIU Kai-zhou， YI Rui-wen. Switching Strategy of Dynamic Sliding Mode Control Based on Multiple Identification Model Set for Unmanned Semi-submersible Vehicle [J]. Acta Armamentarii, 2017, 38(11): 2198-2206.
[10]	YUE Cai-cheng, QIAN Lin-fang, KONG Jian-shou, LI Ying. Adaptive Fuzzy Sliding Mode Control for the Artillery Modular Charge Transport Servo System [J]. Acta Armamentarii, 2017, 38(10): 1891-1898.