3-PPSR柔性并联机器人力控制研究  

A Force Control Strategy for 3-PPSR Flexible Parallel Robots

作　　者：栾玉亮[1] 荣伟彬[1] 吴方勇[1] 孙立宁[1] LUAN Yuliang;RONG Weibin;WU Fangyong;SUN Lining(State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China)

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150001

出　　处：《西安交通大学学报》2017年第4期85-90,共6页Journal of Xi'an Jiaotong University

基　　金：国家自然科学基金创新研究群体科学基金资助项目(51521003);哈尔滨工业大学机器人技术与系统国家重点实验室自主研究课题资助项目(SKLRS201602C)

摘　　要：针对3-PPSR并联机器人加入大长径比柔性铰链和与外界环境接触产生形变的问题,在控制端提出了基于位置阻抗控制的主动柔顺控制策略。该方法在柔性并联机器人与外界环境对象的等效作用模型和基于位置的阻抗控制模型基础上,引入外界环境作用力和结合系统的力跟踪模型,通过调整初始参考位置控制模型的稳态误差实现基于位置的外力跟踪控制。采用Lyapunov稳定模型和能量方程,在未知环境变量条件下通过力偏差直接控制目标位置的自适应控制系统实现自适应的力控制。实验结果表明,基于位置的外力控制精度可以达到±0.05N,应用自适应控制精度可以达到±0.1N,3-PPSR柔性并联机器人的末端的接触力控制精度得到了提高,满足设计要求,验证了该控制方法的准确性和有效性。An active compliance control strategy based on position impedance control is proposed to solve the problem of flexible hinges with high aspect ratio and the deformation of parallel robot caused by external environment.Based on the equivalent reaction model between a flexible parallel robot and external environment and the position-based impedance control model,this strategy adds an external environment force in its control process.The steady state error of force tracking model is considered and accurately controlled by adjusting the initial reference position based on position control.Then,the external force tracking control is analysed with the position control under accurate environment variables.Lyapunov stability model and Lyapunov energy equation are used under the condition of unknown environment variables,and the adaptive force control is achieved by directly controlling the target position through a force deviation.Experimental results show that the precision of the position-based force control and the adaptive control reaches ±0.05 N and ±0.1 N,respectively,and meets design requirement.The accuracy and effectiveness of the strategy are verified.

关 键 词：柔性并联机器人 阻抗控制 自适应控制 力控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]