玻璃钢管体螺纹磨削机器人控制策略研究  

STUDY ON THE CONTROL STRATEGY OF THE GLASS PIPE THREAD GRINDING ROBOT

作　　者：尤波[1] 苗壮[1] 许家忠[1] 乔明[1] 李强[1] 

机构地区：[1]哈尔滨理工大学自动化学院,哈尔滨150080

出　　处：《玻璃钢／复合材料》2016年第5期36-40,共5页Fiber Reinforced Plastics/Composites

基　　金：黑龙江省自然科学基金(E201301)

摘　　要：针对玻璃钢管体螺纹磨削机器人作业时对力和位置控制的要求,建立了机器人动力学约束模型,通过对磨削力的建模与分析,采用基于自适应算法的阻抗控制方式。该方法基于机器人和工作对象之间相互作用的分析,实时校正力的参考值,保证机械臂末端的实际作用力能够稳定跟踪期望的磨削作用力。这种方法对因外界环境等未知因素而产生的扰动和误差具有良好的鲁棒性,而且计算量小。基于上述方法,建立机械臂系统的动力学控制器。通过磨削仿真证明该方法具有良好的稳定性,能够满足并符合对机器人实时控制的要求。For the requirements of force and position control of the robot in the process of the thread grinding operations,the dynamic constraint model of the robot is established. Through on the modeling and analysis of grinding force,the impedance control method based on the adaptive algorithm is adopted. The method is based on the analysis of the interaction between the robot and the working object. Then,we can correct the reference value of the force in real time and the amount of actual force at the end of the robot arm can be ensured to stabilize the desired grinding force. This method has a good robustness for the disturbances and errors arising from the external environment and other unknown factors,and the amount of computation is small. Based on the above method,the dynamic controller of the manipulator system is established. The simulation results show that the method has good stability,and can meet the requirements of real-time control of the robot.

关 键 词：机器人 阻抗控制 螺纹 

分 类 号：TB332[一般工业技术—材料科学与工程]