建筑幕墙安装机器人的位置/力混合控制方法

Hybrid Position/Force Control Method for Slabstone-Installing Robot

针对建筑领域幕墙安装过程中所面临的幕墙质量变化、接触环境改变以及机器人动力学参数漂移等问题,提出了基于阻抗模型和自适应补偿的机器人位置/力混合控制方法。分析了幕墙受力,建立了幕墙与环境之间的接触力模型,获得了机器人-幕墙-接触环境的综合动力学方程;为解决幕墙与环境接触时的力控制问题,在设计控制器时建立了幕墙位置与接触力之间的阻抗关系,同时通过李雅普诺夫稳定性理论构造了自适应控制器来补偿未知不确定项,使幕墙轨迹跟踪阻抗外环生成的参考轨迹。对不同任务时的幕墙安装过程进行多组仿真实验,结果表明:所提方法均能实现高精度的幕墙位置跟踪,误差精度小于0.2 mm,同时可以使幕墙与环境之间有稳定的接触力,并具有一定的鲁棒性。

To solve the problems of slabstone installation in construction field,such as slabstone weight change,environmental contact change and robot dynamic parameter drift,a robot hybrid position/force control method based on impedance model and adaptive compensation is proposed.Analyzing the force on slabstone,the contact force model between the slabstone and the environment is established,and the comprehensive dynamic equation relating robot,slabstone and contact environment is obtained.Aiming at force control for the contact between the slabstone and the environment,the impedance relationship between the position and the contact force is taken into account during controller design,and an adaptive controller is constructed to compensate the unknown uncertainties following Lyapunov stability theory,therefore the slabstone is able to track the reference trajectory generated by the outer loop of impedance.Multiple groups of simulation experiments on slabstone installation process for different tasks show that the proposed method with certain robustness can realize high precision position tracking with error accuracy less than 0.2 mm,and obtain a stable contact force between the slabstone and the environment.