力-位控制算法在工业系统中的应用

Industrial Application of Position-Force Control

机器人末端执行器与物体之间交互作用的控制,是工业机器人操作的核心内容之一。本文基于一部引线键合机,对末端执行器的力-位控制算法进行了研究。通过建模、辨识得到系统传递函数,采用内模控制加前馈补偿的二自由度控制器实现了末端执行器高速、高精度的位置控制;采用带位置内环的力控制策略实现接触力的精确控制。

Control of interaction between a robot manipulator and environment is crucial for successful execution of a number of industrial tasks. Force-position control is investigated based on a wire bonding machine. Transfer function can be attained through modeling and identification. The machine eventually performs at high resolution in both position and force control,thanks to a two freedom controller consist of Internal Model Control and feed forward architecture as well as a force control structure with inner motion control.