高危场所机器人手爪夹持力控制仿真

Clamping Force Control Simulation of Robot Gripper in High-risk Locations

为保证机器人手爪夹持力在高危产品安全阈值范围内且稳定输出,以高危场所常用机器人手爪夹持控制为典型过程,建立夹持力控制系统模型,提出连续系统智能控制仿真步骤,设计模糊控制器,采用Runge-Kutta迭代方法求解。结果表明:夹持力在漂移性扰动情况下,可快速实现夹持力大小的稳定安全控制。

In order to ensure that the clamping force of robot gripper is within the safe threshold of high-risk products and the output is stable,the typical example was taken as the gripping process of robot’s gripper commonly used in high-risk locations.This paper established the control system model of clamping force and proposed the simulation steps of continuous system and intelligent control.The fuzzy controller was designed and solved by Runge-Kutta iterative method.The results show that the clamping force is in the case of drift disturbance,it can quickly realize the stable and safe control of the clamping force.