基于卡尔曼滤波的机器人力控制

Force Control of Robot Based on Kalman Filter

为解决机器人在打磨、装配等复杂作业环境下,其末端力传感器获取到的机器人本体与作业环境间的接触力信号存在干扰噪声影响的问题,设计了基于卡尔曼滤波的机器人力控制模型。通过搭建力控制模块,对比经典阻抗控制与基于卡尔曼滤波的机器人力控制下的接触力跟踪效果,分别搭建平面轨迹跟踪与曲面轨迹跟踪机器人可视化平台。经仿真验证发现,两种工况下基于卡尔曼滤波的机器人力控制比经典阻抗控制的力控制效果更优。

To cope with the noise from the contact force signal abtained via terminal force sensor of robot in complex operation of polishing and assembling,a force control model of robot based on Kalman filter was designed.By force controlling module construction,and comparing the classical impedance control with force control of robot based on Kalman filter in contact force tracking effect,a plane and a surface trajectory tracking of robot visual platforms were set up respectively.The verification shows the force control of robot based on Kalman filter presents better force control effect than that of the classical impedance control under both conditions.