摘要
在工业机器人实现抓取目标的复杂过程中,传统的力控制方法无法满足高精度的要求,为了提高机器手臂末端抓手的位置控制精度,该文采用阻抗控制算法进行机器人力控制的研究。基于Matlab/Simulink仿真平台建立阻抗控制算法的机器人力控制仿真模型,进行控制系统的仿真分析。由仿真分析结果可知,所搭建的控制系统仿真模型能够真实地再现机械臂的动态特性,通过合理地调整阻抗参数可以补偿机器人手臂位置控制的误差,能够提高机器人手臂抓取目标的位置精度。
In the complex process of industrial robots to achieve the grab target,the traditional force control method can not meet the requirements of high precision. In order to improve the position control accuracy of the robot arm gripper,this paper adopts the impedance control algorithm to study the robot force control. Based on the Matlab/Simulink simulation platform,a force control simulation model of the impedance control algorithm was established to simulate the control system. From the simulation analysis results,we can know that the control system simulation model can reproduce the real dynamic characteristics of the robot arm. By adjusting the impedance parameters reasonably,it can compensate the error of the position control of the robot arm and enhance the position accuracy of the robot arm to capture the target.
作者
黄小翀
倪受东
HUANG Xiao-chong;NI Shou-dong(School of Mechanical and Power Engineering,Nanjing University of Technology,Nanjing 211800,China)
出处
《自动化与仪表》
2018年第7期41-45,共5页
Automation & Instrumentation
基金
江苏省科技计划项目(BY2016005-05)
关键词
机器人
力控制
阻抗控制
仿真
robot
force control
impedance control
simulation
