适应环境刚度、阻尼参数未知或变化的机器人阻抗控制方法  

Robot Impedance Control Method Adapting to Unknown or Changing Environment Stiffness and Damping Parameters

作　　者：李正义[1] 曹汇敏[1] 

机构地区：[1]中南民族大学,武汉430074

出　　处：《中国机械工程》2014年第12期1581-1585,共5页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(61178087);中南民族大学校基金资助项目(CZQ12012)

摘　　要：针对机器人阻抗控制在实际应用中其性能受环境的阻尼、刚度参数未知或变化影响的问题,提出了一种机器人自适应阻抗控制方法。在定义机器人阻抗控制性能指标的基础上结合阻抗模型刚度变化的几何表示,给出了阻抗模型刚度参数初值计算方法,提出了基于人工神经网络的环境等效刚度在线估计方法,并结合二阶系统临界阻尼条件计算阻抗模型阻尼参数初值。机器人力控制实验结果验证了该方法较已有的机器人阻抗控制方法在参考轨迹平滑性、力控制稳定性和易于工程实践方面有一定的优势。The robot impedance control known environment stiffness and damping performance decreases with the efffects of changing or un- parameters in practical applications,this paper presented a self-adaptive robot impedance control method to resolve this problem. Based on the definition of the robot impedance control performance index and the geometric representation for the impedance model stiffness variation, the calculation method was illustrated for intitial values of the the impedance mod- el stiffness. Designing an artificial neural network to estimate the environmental equivalent stiffness online and combining with critical damping condition of the second-order system,a calculation method was provided for the impedance model damping initial values. The results of robot force control experi- ments demonstrate smoother reference trajectory, improved robot force control stability and feasibility in practices compared to the existing robot impedance control methods.

关 键 词：机器人阻抗控制 阻抗模型参数 神经网络 机器人力控制 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]