机器人力控制系统稳定性分析及振动抑制

ANALYSIS ON THE STABILITY OF ROBOT FORCE CONTROL SYSTEMS AND VIBRATION SUPPRESSION

利用Ｌａｇｒａｎｇｅ动力学方程对普通机器人和ＭＡＣＲＯ／ＭＩＣＲＯ组合式机器人两种力控制系统的稳定性进行了分析，分析表明后者更稳定。由于ＭＡＣＲＯ机器人结构动态和力传感器动态的影响，组合式机器人在高频时存在着共振与反共振，为了提高系统的高频性能，提出了一种优化粘性阻尼系数的方法，结果表明，当驱动力为０．５Ｎ时，采用此方法可以使机器人与环境的接触力的变化范围由０．１９～１．１２Ｎ减小为０．４４～０．５０Ｎ。

Two robot force control systems,including a conventional robot and a MACRO/MICRO robot, are analysed with the dynamic equations of Lagrange. It has been shown that the latter is more stable. Due to the structural dvnamics of MACRO robot and the dynamics of the force sensor, there exist some resonances and antiresonances at higher bandwidths of the MACRO/MICRO robot. A method for optimizing the viscous damper is suggested to improve the performance of MACRO/MICRO robot at high bandwidths.The results show that when the driving force is 0.5N, the variation range of the interface force between robot and environment can be narrowed from 0.19￣1.12N to 0.44￣0.5N with this method.