Anti-swing Control in Manipulation of a Deformable Linear Object using Dynamic Surface Control

摘要

In this paper, a dynamic surface control(DSC) strategy is designed to suppress the oscillation at the end of a deformable linear object(DLO) when robot manipulates a DLO. The underactuated dynamic model of a DLO is derived by Euler-Lagrange formulation and linearized near the equilibrium. The actuated and underactuated parts of the DLO dynamic model are separated by using linear transform of variables. The linear model future be transformed into a special cascaded form by global transform of coordinate. Based on the cascaded form of a DLO's model, a set of novel dynamic surface is designed, and a dynamic surface control law is designed to suppress the oscillation in the terminal of a DLO. The dynamic surface control law guarantees the DLO system asymptotic bounded. The effectiveness of the proposed control strategy is verified by MATLAB/SIMULINK. Simulation results show that the anti-swing strategy is effective.