基于实际有限时间的双幂次滑模机械臂阻抗控制
Impedance Control of Double Power Sliding Mode Mechanical Arm Based on Actual Finite Time

稳定性和柔顺性是机械臂工作时两项非常重要的性能指标，因为如果稳定性和柔顺性不达标，会导致机械臂的损坏和工作人员的受伤。因此针对机械臂工作时稳定性和柔顺性低的问题，本文设计了一种有效控制器——基于实际有限时间的双幂次滑模控制器。运用阻抗控制技术来控制机械臂遇到障碍物之后的位置变化；利用实际有限时间控制方法提高了系统的稳定性和收敛性；使得机械臂在阻抗控制中的误差更小和系统误差收敛速度更快；最后仿真结果表明，本文所提出的控制方法具有有效的阻抗控制效果。
Safety and compliance are two very important performance indicators for robotic arms in industrial production and daily work, as failure to meet safety and compliance standards can lead to damage to the robotic arm and injury to workers. Therefore, in response to the low safety and compliance of the robotic arm during operation, this paper designs an effective controller—a finite time based double power sliding mode controller. Using impedance control technology to control the position changes of the robotic arm after encountering obstacles; The use of finite time control methods im-proves the stability and convergence of the system; Make the error of the robotic arm in impedance control smaller and the convergence speed of system error faster; The final simulation results show that the control method proposed in this paper has effective impedance control effect.