基于模糊控制的机器人柔顺装配研究  

Study on Robotic Compliant Assembly Based on Fuzzy Control

作　　者：张铁[1] 刘文波[1] 

机构地区：[1]华南理工大学机械与汽车工程学院,广州510640

出　　处：《机械设计与研究》2013年第3期62-65,69,共5页Machine Design And Research

基　　金：863重点资助项目(No.2009AA043901-3);广东省科技计划资助项目(No.2012B010900076);广东省省部产学研资助项目(No.2011B090400150);广东省战略性新兴产业资助项目(No.2011A091101001);中山市科技计划资助项目(2011CXY007)

摘　　要：机器人进行轴孔装配时,末端初始位姿常存在偏差,如何利用力传感器获取的力信息调整末端位姿非常重要。对轴孔装配的模型进行了分析,建立了装配接触点坐标系,并推导了接触点坐标系到力传感器坐标系的变换,解耦了由力传感器获得的力矩数据。基于解耦的力信息,本文提出了直接调整法调整末端位姿,该方法简单,不需复杂计算,但调整步长单一。针对直接调整法的不足,文中将模糊控制应用于输入输出关系,使调整步长多样化。实验证明了模糊控制的有效性。Position and orientation errors of robot end effecter often exist in peg-in-hole assembly, how to adjust it with the information obtained by force sensor is very important. Based on the analysis of peg-in-hole assembly model, the contacting point coordinate system for assembly is established and the coordinate transformation between the contac- ting point and the sensor is derived. Then, the torque obtained by the force sensor is decoupled. According to the de- coupled force information, direct adjusting method is presented to adjust the position and orientation of end offector. This method is simple and without complicated calculating, but its adjusting step-length is changeless. Aiming at the shortness of this method, fuzzy control is applied to the relationship of input and output to diversify the adjusting step- length. Experiments validate the effectiveness of the fuzzy control.

关 键 词：轴孔装配 力信息 解耦 直接调整法 模糊控制 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]