基于反演滑模算法的工业机器人导纳控制

Admittance Control of Industrial Robot Based on Backstepping Sliding Mode Algorithm

针对工业机器人在接触式作业中的柔顺控制问题,为克服系统的非线性、强耦合和模型不确定等不利因素,避免环境接触力对机器人或末端工具造成损坏,提出了一种基于反演滑模算法的机器人导纳控制方法,提高机器人在环境作用力下运行的柔顺性。首先,建立具有参数不确定性的机器人动力学模型;其次,为适应外界接触力、提高机器人的柔顺性,设计了自适应反演滑模控制和导纳控制算法;最后,基于MATLAB中的Robotics Toolbox和Simulink仿真模块验证了所提方法的可行性和有效性。仿真结果表明,在无环境外力时能进行高精准的轨迹跟踪控制;有环境外力时可以产生位置偏差改变运行轨迹,实现良好的柔顺性。

In view of the smooth control of industrial robots in compliance problems,in order to overcome the system of nonlinear,strong coupling and model uncertainty and adverse factors,avoid environmental contact force or end tool for robot,this paper proposes a sliding mode based on the backstepping of robot admittance control method,improve the robot run under the environmental forces of kindliness.Firstly,the robot dynamics model with parameter uncertainty is established.Secondly,in order to adapt to the external contact force and improve the flexibility of the robot,adaptive backstepping sliding mode control and admittance control algorithms are designed.Finally,the feasibility and effectiveness of the proposed method were verified by using Robotics Toolbox and Simulink simulation module in MATLAB.The simulation results show that the trajectory tracking control can be carried out with high precision without external environmental forces.When there are external environmental forces,position deviation can be generated to change the running trajectory and good compliance can be achieved.