一种基于超声波传感器探测的接触力控制方法

Study on Contact Force Control Based on Detection by Ultrasonic Sensors

针对机器人未知的工作环境,提出了一种基于超声波传感器的探测方法,建立了探测系统的结构模型,阐述了超声波探测系统的工作原理.对于机器人与环境表面的接触性工作存在不确定、多变和非结构等特点,将仿人智能控制方法应用于接触力的控制中.该方法以超声波传感器探测所获得的环境信息,作为系统上层控制策略的依据,根据控制误差的大小与方向变化选择相应的控制策略.实验结果表明,该方法较传统的PID控制方法可大大提高控制精度.

A method is presented for a robot using ultrasonic sensors to detect control force in unknown working environment. Developing a structure model for the exploring system, the operation principle of ultrasonic detection system is described. Then, an HSIC （human-simulated intelligent control） method is developed and applied to the control of contact force in unknown environment, since the uncertainty, variability and unstructured property feature the surface contacting job between robot and environment. In the method the environmental information obtained by ultrasonic sensors is taken as the basis of the upper-layer control strategy, then the appropriate programs prepared in advance are selected according to the size and sign of the control error and its change rate. The experimental results show that this method greatly improves the control precision in comparison with PID control method.