摘要
为了实现多轴工业机器人在打磨作业中对轨迹精度和接触力的双重控制,针对六自由度机器人构建了分层式力/位混合控制架构。通过结合增量式PID轨迹跟踪与变阻抗恒力调节,实现切向位置与法向力的独立控制,同时设计了自适应阻尼调节策略以优化力响应性能。仿真结果显示,该算法在不同接触力条件下均能保持轨迹均方根误差低于0.8 mm,法向力稳态误差控制在1.5 N以内,力响应时间小于0.5 s,显著优于纯位置控制策略。研究表明,所提出的分层混合控制方法能够有效提升机器人打磨过程的稳定性与精度,为复杂曲面加工任务提供可靠的控制方案。
In order to achieve dual control of trajectory accuracy and contact force for multi axis industrial robots in polishing operations,this study constructs a layered force/position hybrid control architecture for a six degree of freedom robot.By combining incremental PID trajectory tracking with variable impedance constant force adjustment,independent control of tangential position and normal force is achieved,and an adaptive damping adjustment strategy is designed to optimize force response performance.The simulation results show that the algorithm can maintain the root mean square error of the trajectory below 0.8 mm under different contact force conditions,control the steady-state error of the normal force within 1.5 N,and have a force response time of less than 0.5 s,which is significantly better than the pure position control strategy.Research has shown that the proposed layered hybrid control method can effectively improve the stability and accuracy of robot polishing processes,providing reliable control solutions for complex surface machining tasks.
作者
石建军
SHI Jianjun(Shenzhen Huacheng Industrial Control Co.,Ltd.,Shenzhen 518000,China)
出处
《电工技术》
2025年第22期42-44,共3页
Electric Engineering
关键词
多轴机器人
力/位混合控制
变阻抗控制
打磨精度
multi axis robot
mixed force/position control
variable impedance control
grinding accuracy
