开放式系统中基于智能预测算法的力控制实验研究

Experimental Research of Force Control Based on Intelligent Prediction in Open Architecture System

提出一种适用于未知接触环境下的智能预测力控制算法,此算法可应用于阻抗控制模型和力/位混合控制模型。为了验证算法在形状和刚度均未知的接触环境下进行力跟踪的有效性,构建一个开放式的力控制平台,在不同跟踪速度,不同控制模型等条件下进行了实验研究。实验结果表明,环境几何参数未知、刚度发生非连续变化时,该算法取得了较好的力控制精度。

An intelligent prediction algorithm for robot force control was reviewed. The algorithm can be applied in impedance controller and hybrid position/foree controller. The experimental platform with open architecture controller was developed to test the force tracking effect when the environmental change in curvature and stiffness was taken into account. The force tracking experiments for the irregular surface in different control model, different tracking velocity were executed. The comparative experimental results show validity of the proposed method.