东北大学学报(自然科学版) ›› 2023, Vol. 44 ›› Issue (1): 89-100.DOI: 10.12068/j.issn.1005-3026.2023.01.013

• 机械工程 • 上一篇    下一篇

机器人主动柔顺恒力打磨控制方法

郭万金1,2,3, 于苏扬1, 赵伍端1, 陈杰4   

  1. (1.长安大学 道路施工技术与装备教育部重点实验室, 陕西 西安 710064; 2. 芜湖哈特机器人产业技术研究有限公司博士后工作站, 安徽 芜湖 241007; 3. 哈尔滨工业大学 芜湖机器人产业技术研究院, 安徽 芜湖 241007; 4. 东北大学 机械工程与自动化学院, 辽宁 沈阳 110819)
  • 发布日期:2023-01-30
  • 通讯作者: 郭万金
  • 作者简介:郭万金(1983-),男,内蒙古赤峰人,长安大学副教授.
  • 基金资助:
    国家自然科学基金资助项目(52275005, 52175004); 中国博士后科学基金资助项目(2022M722435); 机器人技术与系统国家重点实验室开放基金(SKLRS-2020-KF-08); 河南省重点研发与推广专项 (科技攻关)项目(222102320417); 河南省市场监督管理局科技计划项目(2022sj145).

Grinding Control Method of Robotic Active Compliance Constant-Force

GUO Wan-jin1,2,3, YU Su-yang1, ZHAO Wu-duan1, CHEN Jie4   

  1. 1. Key Laboratory of Road Construction Technology and Equipment of MOE, Chang’an University, Xi’an 710064, China; 2. Post-Doctoral Research Center, Wuhu HIT Robot Technology Research Institute Co., Ltd., Wuhu 241007, China; 3. Wuhu Robot Technology Research Institute, Harbin Institute of Technology, Wuhu 241007, China; 4. School of Mechanical Engineering & Automation, Northeastern University, Shenyang 110819, China.
  • Published:2023-01-30
  • Contact: GUO Wan-jin
  • About author:-
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摘要: 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.

关键词: 机器人打磨;主动柔顺;自抗扰控制;机器人末端执行器;恒力控制

Abstract: 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.

Key words: robotic grinding; active compliance; active disturbance rejection control; robotic end-effector; constant-force control

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