摘要
基于导纳控制形成了一种机器人直接示教的新型控制方法。构建了导纳控制模型并对控制器中的惯性配置参数与阻尼配置参数进行了分析,得到了各参数对运动控制影响效果的基本规律。综合喷涂任务段的余弦相似度、示教引导交互力与机器人的运行速度参数,实现了导纳控制器中阻尼配置参数的模糊变参数配置,并通过试验验证了控制方法的有效性。
Based on admittance control,a new control method for robot direct teaching was established.The admittance control model was constructed and the inertia coefficient and damping coefficient in the controller were analyzed.The basic law of the effect of parameters on motion control was obtained.The fuzzy variable parameter configuration of the damping coefficient in the admittance controller was realized by integrating the cosine similarity of spraying task,the teaching guidance force and robot running speed parameters.The effectiveness of the control method was verified by experiments.
作者
付兴
徐海波
李月
陈磊
王黎光
Fu Xing;Xu Haibo;Li Yue;Chen Lei;Wang Liguang(Institute of Systems Engineering,CAEP,Mianyang 621999,Sichuan,China;School of Mechanical Engineering,Xi’an Jiaotong University,Xi’an 710049,China;Institute of Machinery Manufacturing Technology,CAEP,Mianyang 621999,Sichuan,China)
出处
《现代制造工程》
CSCD
北大核心
2020年第12期49-54,82,共7页
Modern Manufacturing Engineering
关键词
直接示教
导纳控制
模糊控制
direct teaching
admittance control
fuzzy control
