基于阻抗控制的动态装配过程仿真研究  

A SIMULATION INVESTIGATION ON DYNAMIC ASSEMBLY PROCESS BASED ON IMPEDANCE CONTROL

作　　者：黄心汉[1] 杜克林[1] 王敏[1] 胡建元[1] 

机构地区：[1]华中理工大学自控系,武汉430074

出　　处：《自动化学报》2000年第2期169-175,共7页Acta Automatica Sinica

基　　金：国家自然科学基金

摘　　要：机器人化装配是一个复杂的动力学过程 ,在高速装配时不可避免地会对工件造成损伤 .为了寻求解决该问题的有效方法 ,根据采用阻抗控制方法推导出的装配过程的动力学方程 ,提出了一种采用径向基函数网络 (RBFN)来学习装配过程动力学的渐进学习机制和通过梯度下降法调整阻抗参数的强化学习算法 .数值仿真结果证明了该方法的有效性和渐进学习的优越性 .Robotic assembly is a complicated dynamic process. High speed assembly may incur serious damage to robotic systems and workpieces. In order to find out an effective method to resolve the problem, this paper presents a progressive learning strategy of RBFN to learn the dynamics of the assembly process. We then implement an intensified learning algorithm using gradient search method to adjust impedance components. All of the strategies are based on the dynamic equations that are derived on the basis of the concept of impedance control. Computational simulation results are given to demonstrate the effectiveness and advantage of the approach.

关 键 词：阻抗控制 装配动力学 机器人 自适应控制 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]