在未知环境下基于阻抗模型的受限机械手模糊力控制方法  

Fuzzy Force Control of Constrained Robot Manipulators Based on Impedance Model in Unknown Environment

作　　者：柳洪义[1] 王磊[1] 王菲[1] 

机构地区：[1]东北大学机械工程与自动化学院,辽宁沈阳110004

出　　处：《东北大学学报（自然科学版）》2005年第8期766-769,共4页Journal of Northeastern University(Natural Science)

基　　金：国家自然科学基金资助项目(50075015).

摘　　要：在传统的阻抗控制模型中应用一种新的参考轨迹模糊调节算法.在该算法中应用一个参考比例因子调节参考轨迹.根据反馈的接触力信息,通过模糊推理确定参考比例因子的大小, 从而使生成的参考轨迹适应未知环境刚度的变化.根据接触力的变化对阻抗模型参数进行模糊调节,减少了受限运动中力干扰的影响,提高了全局力控制效果.仿真结果表明,与传统力控制方法比较,该方法提高了力控制精度,增强了对接触环境参数变化的鲁棒性.Proposes a novel algorithm to determine the reference trajectory, which is to be applied to the traditional impedance model. A reference scaling factor is thus developed to tune the reference trajectory in order to adapt the reference trajectory generated for the changeable unknown stiffness in environment. The reference scaling factor is determined by fuzzy reasoning in accordance to the information feedback on forces in contact. Moreover, the impedance model parameters are adjusted fuzzily according to the change of forces in contact to reduce their disturbance in constrained motion as possible .so as to improve entirely the effect of force control. The simulation results show that the proposed .scheme has better force tracking performance and robustness to unknown parameters of the environment in comparison with the traditional force control method.

关 键 词：受限机械手 机器人力控制 模糊控制 参考比例因子 未知环境 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]