摘要
针对机器人分钢过程中末端与环境接触瞬间冲击振荡和力的不稳定性问题,提出了一种基于鲁棒自适应的位置阻抗控制方法。该方法通过内环的PD自适应控制器来跟踪期望轨迹,通过外环的阻抗控制器实现机器人末端与环境之间接触力的稳定性控制,实现了机器人由自由空间到约束空间快速、平稳的过渡和力的稳定性控制。在ADAMS与MATLAB/Simulink中搭建了联合仿真平台,对比分析了控制前后接触力的变化,联合仿真结果表明控制方法的有效性。
Aiming at the unstable problem of shockwave and force at the tail end in the steel process. A kind of position impedance control method was proposed based on robust self-adapted proposed. In this method, the expected trajectory was tracked using the inner loop PD self-adapted controller. The stability control of the contact force between the terminal and environment was realized using the impedance controller of the outer loop. The co-simulation platform was established using ADAMS and MATLAB/Simulink. The variation of contact force before and after control was compared and analyzed. The cosimulation result showed that the control method was effective.
出处
《机械设计》
CSCD
北大核心
2016年第12期63-67,共5页
Journal of Machine Design
基金
天津市科技计划资助项目(16YFFCZC00200)
关键词
机器人
冲击振荡
阻抗控制
联合仿真
robot
impact oscillation
impedance control
co-simulation
