摘要
针对工业机械臂末端执行器对未知环境柔顺性差的问题,该文以最典型的六自由度工业机械臂为研究对象,分析阻抗参数对工业机械臂末端接触力的影响,提出基于模糊控制器的自变阻抗参数控制算法。根据拉格朗日方程和MATLAB/SIMULINK软件平台搭建六自由度工业机械臂的仿真动力学模型,并设计模糊控制器的控制规则得到各个阻抗参数的补偿量,使得末端执行器随着环境的变化而得到不同的阻抗参数。仿真结果表明,该算法能有效地控制机械臂末端与环境的接触力,提高机械臂的柔顺性。
Aiming at the problem that the end-effector of industrial manipulator has poor compliance to unknown environment,this paper takes the most typical six-degree-of-freedom industrial manipulator as the research object.Firstly,the influence of impedance parameters on the contact force at the end of industrial manipulator was analyzed,and a fuzzy controller based control algorithm of self-variable impedance parameters was proposed.Then,according to the Lagrange equation and MATLAB/SIMULINK software platform,the simulation dynamics model of the 6-DOF(Six Degrees of Freedom)industrial manipulator was built,and the control rules of the fuzzy controller were designed to obtain the compensation of each impedance parameter,so that the end effector could get different impedance parameters with the change of the environment.Finally,the simulation results showed that the proposed algorithm could effectively control the contact force between the end of the manipulator and the environment,and improve the flexibility of the manipulator.
作者
戎新萍
徐海璐
季春天
RONG Xinping;XU Hailu;JI Chuntian
出处
《科技创新与应用》
2023年第28期63-66,共4页
Technology Innovation and Application
基金
2022年南京工业大学浦江学院校级重点课题(njpj2022-1-03)。
关键词
阻抗控制
模糊控制
机械臂
自适应控制
参数补偿
impedance control
fuzzy control
manipulator
adaptive control
parameter compensation
