摘要
针对工业机器人在接触任务中的柔顺接触问题,提出了一种基于变阻尼阻抗控制的接触力跟踪方法。首先,根据阻抗控制和一阶环境模型,分析接触力稳态误差与阻抗模型参数之间的数学模型;其次,根据PD控制器思想建立机器人接触力误差与阻尼参数的自适应控制率;最后,根据劳斯判据验证控制器稳定性,获取控制器参数稳定范围。实验表明,变阻尼阻抗控制相比于定阻抗控制,具有低超调、零稳态误差和迅速响应等特点,同时能够跟随动态期望力和适应不确定性的环境。
Aiming at the compliant contact problem of industrial robots in contact tasks,a contact force tracking method based on variable damping impedance control was proposed in this paper.Firstly,based on the impedance control and first-order environment model,the mathematical model between the steady-state error of contact force and the parameters of impedance model is analyzed.Then,the adaptive control rate of contact force error and damping parameter is established according to PD controller.Finally,the stability of the controller is verified according to Rous criterion,and the stability range of controller parameters is obtained.Compared with constant impedance control,variable damped impedance control has the characteristics of low overshoot,zero steady-state error and rapid response,and can follow the dynamic expected force and adapt to the uncertainty of environment.
作者
谭炯钰
魏赏彪
荣易升
张兆龙
TAN Jiong-yu;WEI Shang-biao;RONG Yi-sheng;ZHANG Zhao-long(Biomimetic and Intelligent Robotics Lab,Guangdong University of Technology,Guangzhou 510006,China)
出处
《组合机床与自动化加工技术》
北大核心
2021年第5期69-71,76,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
广东省前沿与关键技术创新专项资金项目(2017B050506008)
广东省科技创新战略专项资金项目(2019A050503011)。
关键词
机器人
柔顺接触
阻抗控制
自适应控制
robots
compliant control
impedance control
adaptive control
