沿任意倾斜面的机器人力/位置控制方法研究

Study on Robot Force Position Control Method for Arbitrarily Inclined Plane Tracking

设计了沿任意倾斜面的机器人自适应阻抗控制方法,该方法解决了接触面法向方向、环境阻尼、刚度参数未知对机器人力/位置控制的影响问题。在机器人与倾斜面碰撞接触过程中采用递归最小二乘(RLS)算法估计环境的阻尼、刚度,根据接触力矩实际值与期望值的偏差实现机器人末端期望姿态的调整;在机器人末端沿倾斜面滑动阶段,设计规则自调整的模糊控制器,根据机器人末端位移、接触力误差实时调整机器人阻抗控制模型参数,以适应环境阻尼、刚度的变化。提出的控制方法具有编程实现简单且对环境参数变化鲁棒性较强的优点,实验验证了控制方法的有效性。

This paper introduced an adaptive impedance control of a robot for the arbitrarily inclined planel tracking,it overcomes the problem of force position tracking for the constraint surface with unknown normal direction and uncertainties of the environmental damping and stiffness.The proposed method used the recursive least square algorithm to estimate the environment damping and stiffness during the impact-contact,and achieved the expected attitude adjustment for the robot end-effector based on the difference between the actual and expected contact moment,During the robot end-effector sliding on the inclined plane,a rule self-adjusting fuzzy logic controller was developed to adjust the robot impedance control parameters on-line based on the robot end-effector position and force tracking errors to adapt to the variations of the environmental damping and stiffness.The designed robot force position control method is robust to the changes of the environmental parameters,but the implementation of the algorithm programming is simple.The experiments demonstrate the effectiveness of the approach.