机器人力控制器的鲁棒性设计及其在装配作业中的应用

Robustness Design of Force Controller for a Robot and Its Applications to Assembly Tasks

当机器人与外界环境发生接触时,接触刚度等不确定性因素对机器人力控制系统的稳定性有很大影响。为了解决这个问题,本文根据变结构控制理论设计了一个机器人力控制器,并提出了一种旋转滑动平面的自适应算法,以加快系统状态的收敛速度和保证收敛过程的鲁棒性。装配实验结果表明,利用本文的方法所设计的机器人力控制器对接触刚度的变化具有很好的鲁棒性。

When a robot makes contact with external environments, some uncertainties from the contact stiff-ness have great effects on the stability of the force control system of the robot. To solve the problem, a robot force controller was designed using the theory of variable structure centrol. An algorithm of rotating sliding surfaces was suggested to increase the convergence speed of the system state and ensure robustness of the system during the con-vergence course. The experiment results of the robotic assembly shown that the robot force controller designed in this paper was robust to the variations of the contact stiffness.