基于黏弹性模型及主动观测器的橡胶搬运机器人控制方法

A rubber handling robot control method based on viscoelastic model and active observer

在橡胶搬运机器人系统的取料阶段,需要将机器人末端执行器插入橡胶内部,在这一过程中橡胶与末端执行器之间的相互作用表现出黏弹特性,使控制系统设计复杂化。为提高机器人控制性能,提出了一种基于Hunt-Crossley(HC)黏弹性模型及主动观测器的橡胶搬运机器人控制方法。首先,采用HC非线性模型作为末端执行器插入橡胶过程的基础模型,基于该模型建立机器人力学模型,并进行线性化处理;然后,采用基于随机卡尔曼滤波的主动观测器进行状态反馈调节,并通过外加主动状态的方式来补偿建模误差以及机器人控制系统扰动;最后,搭建实验系统,采用Levenberg-Marquardt非线性最小二乘法对黏弹性模型进行参数辨识,并证明该控制方法的稳定性,通过与基于经典弹性模型的控制方案进行仿真对比分析,证明了所提控制方法的有效性。

In the recycling stage of the rubber handling robot system,the end-effector of the robot needs to be inserted into the rubber.During this process,the viscoelasticity property of the interaction between rubber and end-effector further complicates the control system design.In order to improve the robot control performance,a rubber handling robot control method based on the Hunt-Crossley(HC)viscoelastic model and active observer was proposed.First,the HC nonlinear model was used as the basic model of the actuator inserting the rubber process.Based on this model,the robot dynamics model was established and linearized.Then,an active observer based on stochastic Kalman filtering was used to adjust the state feedback,and the modeling error and robot control system disturbance were compensated by adding an active state.Finally,an experimental system was built,and the Levenberg-Marquardt nonlinear least square method was used to identify the parameters of the model,and the stability of the control method was proved.Through simulation analysis with the control scheme based on the classical elastic model,the effectiveness of the control method proposed was proved.