基于改进模糊自适应的机械手阻抗控制研究

Study on Manipulator Impedance Control Based on Improved Fuzzy Adaptive

为解决因机械手非线性不确定系统、负载变化及力传感器测量不准确等引起的轨迹位置和接触力的控制问题,研究了一种反演自适应模糊控制方法。在目标阻抗控制模型上引入改进的力补偿以及自适应控制律,并采用Lyapunov函数证明了控制系统的稳定性,同时利用模糊理论设计了模糊控制系统完成目标阻抗参数的自整定,实现了无需依赖信息模型的力/位控制。以简化的二自由度机械手模型完成仿真实验。结果表明:该控制方法具有较好的力/位控制性能,系统鲁棒性较好。

In order to solve the control problems of track position and contact force caused by nonlinear uncertain system of manipulator,load change and inaccurate measurement of force sensor,an adaptive fuzzy control method of backstepping was studied.Improved force compensation and adaptive control law were introduced into the target impedance control model,Lyapunov function was used to prove the stability of the control system.And the fuzzy control system was designed to complete self-tuning of target impedance parameters by using fuzzy theory,and force/bit control without relying on information model was realized.A simplified two DOF manipulator model was used to complete the simulation experiment.The experimental results show that the control method has good force/bit control performance and system robustness.