CN115723137A - Compliant task control method based on plane constant force - Google Patents
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Abstract
The invention relates to a compliance task control method based on plane constant force, belonging to the technical field of robot control and comprising the following steps: carrying out zero-force control on the robot, and collecting the tail end track of the robot to generate an expected track; decoupling a compliant task at the tail end of the robot under a compliant coordinate system, decomposing the compliant task into position control in a rigid plane and force control in a direction vertical to the rigid plane, and establishing a force-position hybrid control model based on a position model; establishing a track adjustment controller model according to a tiny offset generated by the action of an external force when the tail end of the robot is in contact with a rigid plane; the expected external force at the tail end of the robot is set to be constant force, the force position hybrid control model is adopted to control the tail end of the robot to move according to an expected track, and the track adjusting controller model is adopted to finely adjust the expected track at the tail end of the robot. The method for controlling the compliance task can enable the tail end of the robot to move in contact with the rigid plane without damaging the plane.
Description
Technical Field
The invention belongs to the technical field of robot control, and particularly relates to a compliance task control method based on plane constant force.
Background
With the development of the robot, the application of the robot not only meets the control of the pose, but also can not meet the operation requirements for some complex operation tasks (such as assembly, grinding, deburring and the like) by simple position control. Common features of such complex tasks are: the robot end tool needs to be kept in contact with an object to be operated (rigid body), and certain work tasks are performed between the robot end tool and the object to be operated (rigid body) through interaction force. For such tasks, it is not sufficient to use pose control alone, and small pose errors may cause the tools to be out of contact with the environment or generate large forces between each other. The task of energy exchange is a compliant task, and to complete the task, the compliant motion control of the robot needs to be realized, so that the tail end of the robot moves in contact with a rigid plane without damaging the plane.
Traditional robot job tasks only include position control, and the difference between compliant tasks and traditional job tasks is that: not only position control constraints but also force control constraints are included in the compliance task. If the whole compliance task is described directly under the robot base coordinate system by two different sets of trajectory tracking (position tracking and force tracking), two different control schemes are completely coupled together, and the whole task description is extremely complex. Since contact between rigid bodies is generally described, it is impossible to simultaneously request position control and force control for either direction, and both cannot coexist simultaneously, whichever is necessary.
Therefore, how to separate the position control and the force control in the compliance task and control the stress of the tail end of the robot to be always kept as a constant force so as to realize the compliance control of the tail end of the robot is a technical problem which needs to be solved urgently at present.
Disclosure of Invention
Aiming at the defects in the related art, the invention provides a method for controlling a compliance task based on plane constant force, which can ensure that the tail end of a robot can move in contact with a rigid plane without damaging the plane.
The invention provides a compliance task control method based on plane constant force, which comprises the following steps:
acquiring a desired track: performing dynamic modeling and friction modeling on the robot, then compensating gravity and friction in the moving process of the robot, and establishing a zero-force control model of a position control model; the method comprises the following steps of performing zero force control on a robot by adopting a zero force control model, dragging the tail end of the robot to run according to an expected track, and collecting the tail end track of the robot to generate the expected track;
establishing a force-position hybrid control model based on a position model, which specifically comprises the following steps:
establishing a compliant coordinate system based on the robot, taking a rigid plane as an xoy plane of the compliant coordinate system, and taking the direction perpendicular to the outward direction of the rigid plane as the z-axis direction of the compliant coordinate system; decomposing a compliance task of the tail end of the robot moving in a rigid plane into position control and force control of the tail end of the robot along an x axis, a y axis and a z axis under a compliance coordinate system;
then converting the position control and force control of the tail end of the robot along the x axis, the y axis and the z axis into the position control and force control of the robot joint along the x axis, the y axis and the z axis;
according to the control mode of a servo motor at a robot joint, establishing a force-position hybrid control model based on a position model according to the position control and force control of the robot joint along the x axis, the y axis and the z axis;
establishing a track adjustment controller model: establishing a track adjustment controller model according to a tiny offset generated by the action of an external force when the tail end of the robot is in contact with a rigid plane so as to correct an expected track of the tail end of the robot in the z-axis direction;
controlling the robot end to move: the expected external force of the tail end of the robot in the z-axis direction is set to be constant force, a force and position hybrid control model based on a position model is adopted to control a servo motor at a joint of the robot so that the tail end of the robot moves according to an expected track, and a track adjusting controller model is adopted to fine-tune the expected track of the tail end of the robot in the z-axis direction in the control process.
In some of the embodiments, in the step of establishing the force-position hybrid control model based on the position model, the compliance task of the robot end moving in the rigid plane is decomposed into position control of the robot end in the xoy plane and force control in the z-axis direction in the compliance coordinate system.
In some of the embodiments, when the compliant task of the robot end is decomposed, the position control and the force control of the robot end meet natural constraint and artificial constraint conditions;
wherein, the natural constraint conditions are as follows:
the artificial constraint conditions are as follows:
wherein f is x Force of the robot tip in the x-axis direction, f y Force of the robot tip in the y-axis direction, f z Force of the robot tip in the z-axis direction, f dz Desired force in z-axis direction for the robot tip, g x Moment of the robot end along the x-axis direction, g y Moment of the robot end along the y-axis, g z Moment, v, of robot tip in z-axis direction x Is the average velocity, v, of the robot tip in the x-axis direction y Is the average velocity, v, of the robot tip in the y-axis direction z Is the average velocity, v, of the robot tip in the z-axis direction dx For the desired velocity, v, of the robot tip in the x-axis direction dy Desired velocity, w, of the robot tip in the y-axis direction x Speed of rotation of the robot tip in the x-axis direction, w y As a machineSpeed of rotation of the human tip in the direction of the y-axis, w z The rotation speed of the robot end along the z-axis direction.
In some embodiments, in the force-position hybrid control model based on the position model, the expected displacement and the expected torque of the robot joint along the x axis, the y axis and the z axis are set values, the displacement value obtained by the position sensor at the robot joint is used as a displacement feedback value, the torque value obtained by the force sensor at the robot joint is used as a torque feedback value, and the difference value between the expected displacement and the displacement feedback value and the difference value between the expected torque and the torque feedback value are used as input values of the joint space position controller for control.
In some embodiments, in the force-position hybrid control model based on the position model, the displacement value obtained by the position sensor at the robot joint needs to be converted into a compliant coordinate system, and the converted displacement value is used as a displacement feedback value.
In some embodiments, in the step of establishing the trajectory adjustment controller model, the robot tip is equivalent to a mass-damping-spring system, the dynamics of the robot tip are described by three characteristics of inertia, damping and rigidity, and the slight offset generated by the external force when the robot tip is in contact with the rigid plane is calculated and obtained.
In some of these embodiments, the trajectory adjustment controller model is as follows:
wherein z is d A desired position of the robot tip in the z-axis direction; z is a radical of r Taking the position of the tail end of the robot when contacting the rigid plane as a reference position; f dz A desired external force in the z-axis direction for the robot tip; f ez The equivalent external force of the tail end of the robot in the z-axis direction is obtained through calculation based on a joint torque sensor and a dynamic model; m d Inertia exhibited by the desired robot; b is d Inertia expressed for a desired robotSex; k d Inertia exhibited by the desired robot; s is a complex parametric variable, derived by laplace transform.
Compared with the prior art, the invention has the advantages and positive effects that:
the invention provides a method for controlling a compliance task based on plane constant force, which is used for decoupling a compliance task of a robot tail end moving in a rigid plane under a compliance coordinate system, so that a complex compliance task is decomposed into position control in the rigid plane and force control in the direction vertical to the rigid plane, the position control and the force control in the compliance task are separated, a force and position hybrid control model and a track adjustment controller model based on a position mode are further established, an expected external force of the robot tail end in the z-axis direction under the compliance coordinate system is set as constant force, the force and position hybrid control model based on the position mode is used for carrying out force and position hybrid control, the track adjustment controller model is used for correcting the expected track of the robot tail end in the z-axis direction, the robot tail end moves in the rigid plane and keeps constant contact force with the plane, plane constant force control is realized, and the control requirement of the compliance task at the robot tail end can be met.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a control block diagram of a force-level hybrid control model based on a position model established in an embodiment of a method for controlling a compliance task based on a planar constant force according to the present invention;
fig. 2 is a comparison graph of the external force tracking result in the z-axis direction when the compliant task control method based on the plane constant force provided by the embodiment of the present invention and the conventional position control method are respectively used to control the contact between the robot end and the rigid plane.
Detailed Description
The technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a compliance task control method based on plane constant force, which comprises the following steps:
s1, acquiring an expected track: performing dynamic modeling and friction modeling on the robot, then compensating gravity and friction in the moving process of the robot, and establishing a zero-force control model of a position control model; and carrying out zero force control on the robot by adopting a zero force control model, dragging the tail end of the robot to run according to an expected track, and collecting the tail end track of the robot to generate the expected track.
In this step, it should be noted that the "zero force" control of the robot is defined as the robot following the action of the external force and moving as if it were controlled in an environment free from gravity and friction, that is, the servo control of the motor is used to compensate the gravity and friction of the robot, so that the external force completely acts on the movement of the robot. In this step, the zero-force control model of the position control model is established based on a cartesian space zero-force control system, and the core idea of cartesian space zero-force control is as follows: when an operator drags the tail end of the robot, the external force borne by each joint is obtained according to the dynamic model and the feedback data of the torque sensor of each joint at present, then the external force actually borne by the tail end is obtained through calculation according to the external torque of the joint, the acceleration of the motion of the tail end is obtained according to the external force, secondary integration is carried out to obtain the expected pose of the tail end, finally, the expected joint angle is obtained through inverse kinematics calculation, and a joint instruction is sent to the motor, so that zero-force control in a Cartesian space can be realized. The specific steps for establishing the zero-force control model of the position control model based on the cartesian space zero-force control system are well known to those skilled in the art and will not be described herein.
S2, establishing a force and position hybrid control model based on a position model, which specifically comprises the following steps:
s201, establishing a compliance coordinate system based on a robot, taking a rigid plane as an xoy plane of the compliance coordinate system, and taking the direction perpendicular to the outward direction of the rigid plane as the z-axis direction of the compliance coordinate system; the compliant task of the robot tail end moving in a rigid plane is decomposed into position control and force control of the robot tail end along an x axis, a y axis and a z axis under a compliant coordinate system.
In this step, it should be noted that, when the end of the robot moves to the rigid plane but does not contact the rigid plane, all directions of the end of the robot do not contact the environment, and the end of the robot is position-controlled; when the robot tip contacts a rigid plane, the movement along the z-axis is hindered by the rigid plane, and the position control is not possible in the z-axis direction, only the force control is possible, while the other directions are still position control and no force control. Therefore, in this step, in the decomposition of the compliance task, the compliance task in which the robot tip moves in the rigid plane is decomposed into the position control of the robot tip in the xoy plane and the force control in the z-axis direction in the compliance coordinate system.
Specifically, the position control and force control of the robot tip need to satisfy natural constraint (i.e., constraint relationship determined according to the geometry of the task) and artificial constraint (i.e., desired motion set according to the requirements of the task). Assuming that the friction between the robot tip and the rigid plane is 0 in the xoy plane neglecting the friction, and meanwhile, there is no counter moment in the rotation of the robot tip around the x-axis, the y-axis and the z-axis, the natural constraint condition can be expressed as:
wherein f is x Force of the robot tip in the x-axis direction, f y Force of the robot tip in the direction of the y-axis, v z Is the average velocity, g, of the robot tip in the z-axis direction x Moment of the robot end along the x-axis direction, g y Moment of the robot end along the y-axis, g z The moment of the robot end along the z-axis direction.
According to the requirement of hard contact, if the artificially given expected trajectory is an artificial constraint, the artificial constraint condition can be expressed as:
wherein v is x Is the average velocity, v, of the robot tip in the x-axis direction y Is the average velocity, v, of the robot tip in the y-axis direction dx Desired velocity, v, of the robot tip in the x-axis direction dy For the desired velocity of the robot tip in the y-axis direction, f z Force of the robot tip in the z-axis direction, f dz Desired force in z-axis direction for robot tip, w x Speed of rotation of the robot tip in the x-axis direction, w y Speed of rotation of the robot end in the direction of the y-axis, w z The rotation speed of the robot end along the z-axis direction.
Therefore, the compliance task of the tail end of the robot moving on the rigid plane is decomposed into position control and force control in the z-axis direction of the tail end of the robot on the xoy plane by establishing a compliance coordinate system, so that the position control and the force control are separated, and the subsequent compliance control is convenient to realize.
S202, converting the position control and force control of the robot tail end along the x axis, the y axis and the z axis into the position control and force control of the robot joint along the x axis, the y axis and the z axis.
In this step, since the minimum driving unit of the robot is a joint, it is necessary to change the position control and force control of the robot end in the compliant coordinate system into a joint space.
S203, according to the control mode of the servo motor at the robot joint, according to the position control and force control of the robot joint along the x axis, the y axis and the z axis, a force and position hybrid control model based on the position model is established.
Specifically, the control block diagram of the force-level hybrid control model based on the position model used in this step is shown in fig. 1, where x in fig. 1 d For the desired displacement, x is the displacement feedback value, f d Is an expected moment, f is a moment feedback value, S is a selection matrix, I is a unit matrix, J is a robot jacobian matrix, q is a joint angle,
in order to determine the angular velocity of the joint,
for estimated environmental stiffness, FCL is a force controller, PCLJ is a position controller for joint space, and X = f (q) is a displacement coordinate transformation relation based on joint angle for transforming the measurement values fed back by the position sensor into a compliant coordinate system. In the force and position hybrid control model based on the position mode, expected displacement amounts and expected moments of a robot joint along an x axis, a y axis and a z axis are used as set values, a displacement value obtained by a position sensor at the robot joint is used as a displacement feedback value, a moment value obtained by a force sensor at the robot joint is used as a moment feedback value, and a difference value between the expected displacement amount and the displacement feedback value and a difference value between the expected moment and the moment feedback value are used as input values of a joint space position controller for control. The displacement value obtained by the position sensor at the joint of the robot needs to be converted into a compliant coordinate system, and the converted displacement value is used as a displacement feedback value.
S3, establishing a track adjustment controller model: and establishing a track adjustment controller model according to the tiny offset generated by the action of external force when the tail end of the robot is contacted with the rigid plane so as to correct the expected track of the tail end of the robot in the z-axis direction.
In this step, it should be noted that, when the tail end of the robot is in contact with the rigid plane, the tail end of the robot may generate a small offset under the action of an external force, and therefore, the impedance control of the tail end of the robot in the z-axis direction can be performed by establishing a trajectory adjustment controller model, so as to correct an expected trajectory of the tail end of the robot in the z-axis direction, and make the motion of the tail end of the robot meet the control requirement of the compliance task.
Specifically, in the step of establishing the trajectory adjustment controller model, the robot end is equivalent to a mass-damping-spring system, and the dynamic properties of the robot end are described by using three characteristics of inertia, damping and stiffness, respectively, so that the corresponding restoring force F generated when the robot end is subjected to a small deviation due to an external force can be represented as:
in the formula (1), F dz A desired external force in the z-axis direction for the robot tip; f ez The equivalent external force of the tail end of the robot in the z-axis direction is obtained through calculation based on a joint torque sensor and a dynamic model; m d Inertia exhibited by the desired robot; b is d Inertia exhibited by the desired robot; k d Inertia exhibited by the desired robot; e is the slight offset of the robot tip due to the external force when the robot tip is in contact with the rigid plane.
When the laplace transform is performed on the equation (1), the minute offset e generated by the external force when the robot end is in contact with the rigid plane can be expressed as:
in the formula (2), z d A desired position of the robot tip in the z-axis direction; z is a radical of r Taking the position of the tail end of the robot when contacting the rigid plane as a reference position; s is a complex parametric variable, derived by laplace transform.
From equation (2), an expression for the desired position of the robot tip in the z-axis direction (i.e., the established trajectory adjustment controller model) can be derived as follows:
s4, controlling the tail end of the robot to move: the expected external force of the tail end of the robot in the z-axis direction is set to be constant force, a force and position hybrid control model based on a position model is adopted to control a servo motor at a joint of the robot so that the tail end of the robot moves according to an expected track, and a track adjusting controller model is adopted to fine-tune the expected track of the tail end of the robot in the z-axis direction in the control process.
In the step, the expected external force of the tail end of the robot in the direction of the z axis under the compliant coordinate system is set as the constant force, so that the established force position mixed control model and the track adjustment controller model based on the position mode can control the tail end of the robot to move on a rigid plane and keep the contact force with the plane unchanged, the plane constant force control is realized, and the control requirement of the compliant task of the tail end of the robot can be met.
The movement of the tail end of the robot is controlled by adopting the compliance task control method based on the plane constant force with the force of 4N as the expected external force of the tail end of the robot in the z-axis direction, and meanwhile, the movement of the tail end of the robot is controlled by adopting the conventional position control method as the contrast, and the external force tracking result in the z-axis direction when the tail end of the robot is contacted with the rigid plane is shown in figure 2. As can be seen from fig. 2, when the conventional position control method is adopted, a large mutual extrusion acting force exists between the rigid bodies between the tail end of the robot and the rigid contact surface, whereas when the compliant task control method based on the plane constant force provided by the invention is adopted, the extrusion acting force between the tail end of the robot and the rigid contact surface is remarkably reduced, and the stress of the tail end of the robot can be basically stabilized on an expected external force.
Finally, it should be noted that: the embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The above examples are only intended to illustrate the technical solution of the present invention and not to limit it; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the invention, it is intended to cover all modifications within the scope of the invention as claimed.
Claims (7)
1. A compliance task control method based on plane constant force is characterized by comprising the following steps:
acquiring a desired track: performing dynamic modeling and friction modeling on the robot, then compensating gravity and friction in the moving process of the robot, and establishing a zero-force control model of a position control model; the zero-force control model is adopted to carry out zero-force control on the robot, the tail end of the robot is dragged to run according to an expected track, and the tail end track of the robot is collected to generate an expected track;
establishing a force and position hybrid control model based on a position model, and specifically comprising the following steps:
establishing a compliant coordinate system based on a robot, taking a rigid plane as an xoy plane of the compliant coordinate system, and taking the direction perpendicular to the outward direction of the rigid plane as the z-axis direction of the compliant coordinate system; decomposing a compliance task of the tail end of the robot moving in a rigid plane into position control and force control of the tail end of the robot along an x axis, a y axis and a z axis under a compliance coordinate system;
then converting the position control and force control of the tail end of the robot along the x axis, the y axis and the z axis into the position control and force control of the robot joint along the x axis, the y axis and the z axis;
according to the control mode of a servo motor at a robot joint, a force-position hybrid control model based on a position model is established according to the position control and the force control of the robot joint along the x axis, the y axis and the z axis;
establishing a track adjustment controller model: establishing a track adjustment controller model according to a tiny offset generated by the action of an external force when the tail end of the robot is in contact with a rigid plane so as to correct an expected track of the tail end of the robot in the z-axis direction;
controlling the robot end to move: setting an expected external force of the tail end of the robot in the z-axis direction as a constant force, controlling a servo motor at a joint of the robot by adopting the force-position hybrid control model based on the position mode so as to enable the tail end of the robot to move according to an expected track, and finely adjusting the expected track of the tail end of the robot in the z-axis direction by adopting the track adjusting controller model in the control process.
2. The plane constant force-based compliant task control method according to claim 1, wherein in the step of establishing a position-mode-based force-position hybrid control model, the compliant task in which the robot tip moves in a rigid plane is decomposed into position control of the robot tip in the xoy plane and force control in the z-axis direction in a compliant coordinate system.
3. The method for controlling the compliance task based on the plane constant force as claimed in claim 2, wherein when the compliance task at the end of the robot is decomposed, the position control and the force control of the end of the robot meet natural constraint and artificial constraint conditions;
wherein the natural constraint condition is:
the artificial constraint conditions are as follows:
wherein f is x Force of the robot tip in the x-axis direction, f y Force of the robot end in the y-axis direction, f z Force of the robot tip in the z-axis direction, f dz Desired force in z-axis direction for the robot tip, g x Moment of the robot end along the x-axis direction, g y Moment of robot end along y-axis direction, g z Moment, v, of robot tip in z-axis direction x Is the average velocity, v, of the robot tip in the x-axis direction y Is the average velocity, v, of the robot tip in the y-axis direction z Is the average velocity, v, of the robot tip in the z-axis direction dx For the desired velocity, v, of the robot tip in the x-axis direction dy Desired velocity, w, of the robot tip in the y-axis direction x Speed of rotation of the robot tip in the x-axis direction, w y Speed of rotation of the robot end in the direction of the y-axis, w z The rotation speed of the robot end along the z-axis direction.
4. The compliance task control method based on planar constant force as claimed in claim 1, wherein in the force-position hybrid control model based on the position model, the expected displacement and the expected torque of the robot joint along the x-axis, the y-axis and the z-axis are set values, the displacement value obtained by the position sensor at the robot joint is used as a displacement feedback value, the torque value obtained by the force sensor at the robot joint is used as a torque feedback value, and the difference value between the expected displacement and the displacement feedback value and the difference value between the expected torque and the torque feedback value are used as input values of the joint space position controller for control.
5. The planar constant force-based compliant task control method according to claim 4, wherein in the position-mode-based force-position hybrid control model, a displacement value obtained by a position sensor at a robot joint needs to be converted into a compliant coordinate system, and the converted displacement value is used as a displacement feedback value.
6. The compliance task control method based on plane constant force as claimed in claim 1, wherein in the step of establishing the trajectory adjustment controller model, the robot tip is equivalent to a mass-damping-spring system, the three characteristics of inertia, damping and rigidity are respectively used to describe the dynamic property of the robot tip, and the micro offset generated by the external force when the robot tip is in contact with the rigid plane is calculated.
7. The planar constant force-based compliance task control method of claim 6, wherein the trajectory adjustment controller model is as follows:
wherein z is d A desired position of the robot tip in the z-axis direction; z is a radical of r Taking the position of the tail end of the robot when contacting the rigid plane as a reference position; f dz A desired external force in the z-axis direction for the robot tip; f ez The equivalent external force of the tail end of the robot in the z-axis direction is obtained through calculation based on a joint torque sensor and a dynamic model; m d Inertia exhibited by the desired robot; b is d Inertia exhibited by the desired robot; k d Inertia exhibited by the desired robot; s is a complex parametric variable, derived by laplace transform.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116442240A (en) * | 2023-05-26 | 2023-07-18 | 中山大学 | Robot zero-force control method and device based on high-pass filtering decoupling |
| CN117204955A (en) * | 2023-11-06 | 2023-12-12 | 华东交通大学 | Force control system of flexible surgical robot and device thereof |
| CN118456419A (en) * | 2024-04-25 | 2024-08-09 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Self-adaptive finite time variable force tracking control method for mechanical arm |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116442240A (en) * | 2023-05-26 | 2023-07-18 | 中山大学 | Robot zero-force control method and device based on high-pass filtering decoupling |
| CN116442240B (en) * | 2023-05-26 | 2023-11-14 | 中山大学 | Robot zero-force control method and device based on high-pass filtering decoupling |
| CN117204955A (en) * | 2023-11-06 | 2023-12-12 | 华东交通大学 | Force control system of flexible surgical robot and device thereof |
| CN118456419A (en) * | 2024-04-25 | 2024-08-09 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Self-adaptive finite time variable force tracking control method for mechanical arm |
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