关于幕墙安装机器人的力控制算法性能分析  

Force Control Algorithm Performance Analysis for Curtain Wall Installation Robot

作　　者：李铁军[1] 张改萍[1] 杨冬[1] 沈永旺 LI Tie-jun;ZHANG Gai-ping;YANG Dong;SHEN Yong-wang(Shool of Mechanical Engineering,Hebut University of Technology,Tianjin 300000,China)

机构地区：[1]河北工业大学机械工程学院,天津300000

出　　处：《机械设计与制造》2018年第11期154-157,162,共5页Machinery Design & Manufacture

基　　金："十二五"国家科技支撑计划项目"建筑板材机器人化施工装备与示范应用(2013BAF07B08)

摘　　要：现代幕墙安装过程中对移动的快速性和安装时精确性的要求越来越高,为了更好的研究幕墙安装机器人的力控制算法,建立了简化的机器人动力学模型,确定了阻抗控制与自适应阻抗控制数学模型,并借助Matlab/Simulink构建了阻抗控制及自适应阻抗控制仿真平台,通过分析位置跟踪情况和环境接触力跟踪情况,验证了两种控制算法的可行性。对比分析两种控制方法后,最终提出了适用于幕墙安装的力控制方法,即在自由空间选择阻抗控制方法,环境接触空间选择自适应阻抗控制方法,该方法可以满足自由运动时快速响应和环境接触力控制的准确性要求。The higher requirements of moving quickly and installing accurately during the progress of modern curtain wall installation,in order to better study force control algorithm of the curtain wall installation robot,the simplified dynamical model of curtain wall installation robot was set up,the impedance control and adaptive impedance control mathematical model were determined,the impedance control and adaptive control simulation platform were built in Matlab/Simulink,through the analysis of location tracking situation and the environment contact force tracking situation,practicability of two kinds of control algorithms were verified.After the two kinds of control algorithms were analyzed,force control algorithm appropriate for the curtain wall installation robot was put forward,impedance control method was chose in free space,adaptive impedance control method was chose in environmental contact space,this method can be satisfied with the rapid response during freedom movement and the accuracy of environmental contact force control.

关 键 词：幕墙安装机器人 阻抗控制 自适应阻抗控制 阻抗参数选择 

分 类 号：TH16[机械工程—机械制造及自动化] TU689[建筑科学—建筑技术科学]