机器人主动柔顺恒力打磨控制方法

Grinding Control Method of Robotic Active Compliance Constant-Force

为了解决打磨过程中打磨控制系统存在扰动问题,设计了一种机器人力控末端执行器,并提出了一种机器人主动柔顺恒力打磨自抗扰模糊变阻抗控制方法.所提方法的内环控制采用模糊变阻抗控制器,外环控制采用自抗扰打磨控制器.采用Lyapunov稳定性理论证明了所提方法的跟踪误差收敛为零.通过仿真和实验,验证了所提方法的有效性和适用性.研究结果表明:在内环控制相同情况下,与外环控制为PID控制器相比,所提出的机器人主动柔顺恒力打磨自抗扰模糊变阻抗控制方法减小了打磨过程中的力跟踪误差和位置超调量,提高了机器人打磨力控制系统的控制效果和鲁棒性,实现机器人柔顺恒力控制.

In order to solve the problem of disturbance in grinding control system,a robotic force control end-effector is designed,and a grinding control method of robotic active compliance constant-force is proposed,based on the active disturbance rejection control and the fuzzy variable impedance control.A fuzzy variable impedance controller is adopted by the inner-loop control of the proposed method,and an active disturbance rejection grinding controller is adopted by the outer-loop control.Convergence of the tracking error to zero for the proposed method is guaranteed by the Lyapunov stability theory.The effectiveness and applicability of the proposed method are verified by the co-simulation and experiment.By comparing the proposed method and the PID controller,which is used to replace the outer-loop control,when the inner-loop control is same,the former has better ability to reduce force tracking error and position overshoot during simulation experiments.Meanwhile,using the proposed method,the control effects and the robustness of the force control system for the robotic grinding are improved,and the robotic compliant constant-force control is realized.