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Force/Position Hybrid Control Technology of Heavy-duty Long Manipulator Based on IPSMC

In order to solve the problems of low precision, disturbance and unsmooth movement of heavy-duty long manipulator in working conditions, an IPSMC (improved power sliding mode control) based on force impedance control is proposed. First, the robot is organized and an accurate kinematics model is established and the motion characteristics of special manipulator system are analyzed. Combined with the dynamic model, the deviation of the position and velocity feedback from the expected value is converted by the force impedance controller, which makes the manipulator more flexible under the condition of low damping. At the same time, according to the position and speed feedback, an IPSMC is proposed, which uses the sliding mode control (SMC) to reduce the disturbance and oscillation in the working condition, so as to realize the control in the position space and the control in the force space. Finally, through Adams-Simulink co-simulation, the designed control system is tested. The results show that the force/position hybrid control strategy has good anti-interference ability for the long manipulator with large working range. While improving the flexibility of the manipulator, it also weakens the end chattering problem to some extent, enhances the robustness of the control system, and meets the requirements of working conditions.