基于阻抗控制的幕墙安装机器人柔顺操作研究  

Compliant operation research for slabstone-installing robot based on impedance control

作　　者：陈贵亮[1] 曹伟涛[1] 杨冬[1] 张守林[1] 李贺立 

机构地区：[1]河北工业大学机械工程学院,天津300130

出　　处：《工程设计学报》2017年第1期100-107,共8页Chinese Journal of Engineering Design

基　　金：国家"十二五"科技支撑计划资助项目(2013BAF07B08)

摘　　要：为了提高幕墙安装机器人操作的柔顺性,从而真正解决建筑幕墙自动安装中人机协调的问题,采用自适应阻抗控制方法作为柔顺操作策略.依据建筑机器人物理模型建立了较为准确的阻抗控制模型,在机器人末端未接触运动空间和环境接触空间进行了自适应阻抗控制的研究,提出了通过减小力峰值防止幕墙破坏的控制参数的调整方法,借助MATLAB对控制系统进行了仿真,并对基于该算法的幕墙安装机器人进行了柔顺性操作实验.经过仿真和实验得到了适用于幕墙安装机器人的力控制算法,验证了自适应阻抗控制算法能够满足幕墙安装机器人柔顺性操作的要求.In order to improve the flexibility of the slabstone-installation robot operation,so as to solve the problem of man-machine coordination in building slabstone-installed automatically.Ac-cording to the physical model of building robot,a more accurate impedance control model was es-tablished.Research on adaptive impedance control of robot end effector space and environment contact space was carried out.A method to adj ust the control parameters of curtain wall damage by reducing the peak force was proposed.With the aid of MATLAB,the control system was sim-ulated,and the flexible operation experiment was carried out on the slabstone-installing robot based on the algorithm.After the simulation and experiment,the force control algorithm was ap-plied to the curtain slabstone-installing robot.Finally,the adaptive impedance control algorithm was proved to be able to meet the requirements of the flexible operation of the slabstone-installation robot.

关 键 词：阻抗控制 幕墙安装机器人 柔顺操作 力控制 

分 类 号：TU689[建筑科学—建筑技术科学] TP24[自动化与计算机技术—检测技术与自动化装置]