仓储物流搬运机器人接触力阻抗自动控制方法研究

Research on automatic control method of contact force impedance for warehouse logistics handling robots

为使机器人在搬运过程中能够根据外部环境和货物状态的变化,实时调整其阻抗参数,实现接触力精确控制,提出仓储物流搬运机器人接触力阻抗自动控制方法研究。设计基于位置的机器人阻抗控制模型,以压力传感器获取机器人末端执行器实际接触力,与期望接触力一同作为控制函数的输入。通过函数输出位置修正量,用于修正机器人目标位置,实现机器人与环境的柔顺接触和精准搬运。实验结果显示:该方法在接触力与位置控制上的优势显著,在环境位置变化条件下具有较强的抗干扰性能。此外,当实际接触力与期望值相差较大时,选取较小阻尼系数;当接触力在期望值附近时,增大阻尼系数,具有更好的阻尼系数自适应调控效果,实现精准的仓储物流搬运机器人接触力阻抗自动控制。

In order to enable robots to adjust their impedance parameters in real-time based on changes in external environment and cargo status during the transportation process,and thereby achieve precise control of contact force,a research on automatic control method of contact force impedance for warehouse logistics handling robots is proposed.Design a location-based impedance control model for robots,using pressure sensors to obtain the actual contact force of the robot′s end effector,which is used as input to the control function along with the expected contact force.Output the position correction amount through the function to correct the robot′s target position,achieve smooth contact and accurate transportation between the robot and the environment.The experimental results show that this method has significant advantages in contact force and position control,and has strong anti-interference performance under environmental position changes.In addition,when the actual contact force differs significantly from the expected value,a smaller damping coefficient should be selected.When the contact force is near the expected value,increasing the damping coefficient has a better adaptive control effect on the damping coefficient,achieving accurate automatic control of the contact force impedance of warehousing and logistics handling robots.