机器人与环境碰撞接触控制研究

Study of the Impact/Contact Control Between the Robot and Environment

为实现机器人末端与环境间碰撞接触的稳定控制,设计了一种基于系统能量快速衰减的机器人力/速度控制方法。设计的控制方法在未接触状态下实现机器人速度控制,在碰撞接触状态下,控制根据接触力误差和机器人末端速度调节系统的力误差反馈控制系数,实现系统能量快速衰减;同时,采用模糊控制方法对力误差反馈控制系数近一步微调,以增强碰撞接触过程的稳定性。实验表明设计的控制方法较常规PID控制方法能明显提高机器人与环境碰撞接触过程的稳定性。

In order to stabilise the robot end-effector in impact/contact with environment,we design a force/velocity robot controller based on the fast rate of energy dissipation of the system.The proposed control method follows the reference velocity in free motion,but during the impact/contact,it adjusts the control system force feedback coefficient according to the contact force error and the robot end-effector velocity to dissipate the energy of the system as fast as possible,and the fuzzy control method is used to facilitate fine adjustments of the system force feedback coefficient to improve the stability of the impact/contact transition between the robot and environment.Experiments demonstrate the proposed control method improves the stability of the impact/contact control between the robot and environment as compared with the normal proportional—integral—derivative（PID） control method.