关键词: 串联弹性驱动器, 柔性输出, 非奇异终端滑模控制, 多幂次趋近率, 扰动补偿

Abstract: To adapt to the change of blade curvature in grinding process for achieving active and passive control,,a linear type suitable for motor driven Series Elastic Actuator (SEA) was proposed to install on the six degree of freedom manipulator to achieve flexible output by imitating the musle-tendon of human body.A class of SEA mathematical model was established,and the nonsingular fast terminal sliding mode surface and multi power reaching rate were designed based on the class SEA dynamics model.According to the sliding surface and reaching rate,the control law with disturbance compensation was designed.The simulation experiments were carried out by comparing with the traditional terminal sliding mode surface and the traditional approach rate,and the simulation results showed that the control law of nonsingular fast terminal sliding mode surface and multi power reaching rate to the equilibrium point rate was faster,and the output of the controller was lower,and the ability of anti-inteference was stronger.

Key words: series elastic actuator, flexible output, nonsingular terminal sliding mode control, multiple power reaching rate, disturbance compensation