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面向打磨机械臂的自适应阻抗控制算法
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北京信息科技大学促进高校内涵发展研究生重点培育项目(5212010925);北京市自然科学基金(19L2018);北京市教委科研计划科技一般项目(KM202011232009)


Research on Adaptive Impedance Control Algorithm for Grinding Manipulator
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    摘要:

    传统基于位置的定阻抗控制器进行柔顺控制时,力跟踪性能取决于控制器对环境信息的了解程度,且阻抗参数值需经多次试验确定,一旦环境发生变化需要重新多次试验确定各参数值。为降低环境信息的未知性对力跟踪效果的影响和阻抗参数调节的不便,通过力偏差与机器人终端速度设计自适应补偿器对参考轨迹进行补偿,从而间接调整阻抗参数,提高系统对未知环境的自适应性。仿真试验结果表明:该方法相对定阻抗参数法,20 N期望力下力跟踪稳态误差在5%内,过渡到稳态时间短,能够很好地适应未知环境。

    Abstract:

    When traditional position-based fixed impedance controller conducting compliant control,the performance of force tracking depends on the various uncertain disturbance factors.Besides,the control parameters input in the controller are determined by a series of experiments.Once factors of the disturbance are changed,these parameters also need to be recalibrated.To reduce the effect on force tracking caused by the uncertainty of various disturbance,and to avoid the inconvenience of recalibrating,a trajectory adjustment compensator was designed based on the force deviation and velocity at the extremity,so that the factors of impedance were able to be adjusted indirectly and eventually the adaptivity of the system was enhanced.The simulation results show that the steady-state error of force tracking under 20 N expected force is within 5%,and the time of transiting back to steady-state is shorter compared to the fixed impedance control method,which shows the system with this compensator is able to adapt to the uncertainty better.

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沈孝龙,王吉芳,张月涛,苏鹏.面向打磨机械臂的自适应阻抗控制算法[J].机床与液压,2023,51(9):16-21.
SHEN Xiaolong, WANG Jifang, ZHANG Yuetao, SU Peng. Research on Adaptive Impedance Control Algorithm for Grinding Manipulator[J]. Machine Tool & Hydraulics,2023,51(9):16-21

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  • 在线发布日期: 2023-05-29
  • 出版日期: 2023-05-15