基于模糊补偿的机器人力/位置控制策略的研究

Study on Force/Position Control Strategy Based on Fuzzy Compensation of the Robot

随着制造业的发展,机器人打磨、装配等与环境接触的加工任务占的比重越来越大,机器人与环境接触的力控制成为了一个新的需求。传统的阻抗控制策略需要精确地知道环境的刚度,在具体的应用中受到很大的限制。基于六维力传感器提出了一种自适应阻抗控制方法,这种自适应阻抗控制方法不需要知道环境的刚度,并且根据机器人与环境接触力的误差变化采用模糊控制来自动调整阻抗控制模型的参数,使机器人与环境保持期望的接触力。最后通过机器人与环境的接触实验,验证了该算法具有良好的力控制效果。

With the development of manufacturing, robot polishing, assembling and other contact with the environment of the processing tasks accounted for the proportion oflarger and larger, contact force control with the environment of robot has become a new demand. The traditional impedance control strategy needs to accurately know the environmental stiffness, which is limited a lot in the specific application. Six dimensional （6D） force sensoris based on to propose an adaptive impedance control method. This adaptive impedance control method was not in need to know the environmental stiffness, according to the model error variance between robot and environment contact force to automatically adjust the parameters of impedance controller by fuzzy control, so as to keep the robot and the environment with the desired contact force. Finally through the robot and environment exposure experiments, the algorithm is veri- fied to have good force control effect.