摘要
为实现高空幕墙安装机器人末端接触力控制,基于自适应控制理论,针对简化的高空幕墙安装机器人动力学模型,提出一种自适应阻抗控制方法,该方法可以使机器人末端接触力准确跟踪期望力.为改进系统实时性效果,在此基础上应用模糊控制理论,对阻抗控制器中的阻尼参数B进行实时调整,阐述了调整参数B的方法:当接触力与期望力偏差较大,阻尼参数B应选择较小值,以便系统能够快速接近期望力;当偏差较小或在平衡位置振荡,应取较大的阻尼参数B,有利于系统快速稳定.仿真结果表明,基于模糊自适应阻抗控制算法不仅能够准确控制机器人末端接触力,且可减小系统超调量,改善实时性和减小振荡,既保留了自适应算法的优点,又提高了系统控制品质.在相同参数条件下,与自适应阻抗控制算法相比,模糊自适应阻抗控制算法使机器人末端接触力峰值减小6.25%,振荡次数减少33.33%,跟踪速度加快约36.36%,提高了幕墙安装机器人的施工效率和安全性.
An adaptive impedance control algorithm was proposed for accurate force control between end-effector of curtain wall installation robot and environment.The algorithm could attain force tracking combining a simplified dynamic model of the robot and adaptive theory.In order to improve tracking speed,overshoot and oscillation times,damping parameter Bwas adjusted in real time and the adjusting method of fuzzy rules was explained so as to get proper parameters B.When deviation between contact force and expected force was big,smaller value of the damping parameter Bshould be chosen.On the contrary,when the deviation was small or the system was in a state of oscillation in balanced position,the larger value of parameter B was conducive to make the system have good stability.Simulation showed that the designed fuzzy adaptive impedance control algorithm could accurately control contacting force with less overshoot,less oscillation times and rapid response.It not only retained the advantages of adaptive control method but also improved the control quality of the guidance system.Compared with adaptive impedance control algorithm,the improved fuzzy control method made the peak value of force decreased by6.25%,the oscillation times reduced by 33.33% and tracking velocity quickened about 36.36%,which could improve the working efficiency and security.
出处
《工程设计学报》
CSCD
北大核心
2015年第6期569-574,588,共7页
Chinese Journal of Engineering Design
基金
国家科技支撑计划项目(2013BAF07B00)
河北省科技支撑计划项目(13211910D)
关键词
幕墙安装
自适应控制算法
模糊控制
力跟踪
curtain wall installation
adaptive control algorithm
fuzzy control
force tracking
