复合材料打磨机器人的主动柔顺控制  

Active and compliant control of the composite polishing robot

作　　者：许家忠[1] 郑学海 周洵 XU Jia-zhong;ZHENG Xue-hai;ZHOU Xun(School of Automation,Harbin University of Science and Technology,Harbin 150080,China)

机构地区：[1]哈尔滨理工大学自动化学院

出　　处：《电机与控制学报》2019年第12期151-158,共8页Electric Machines and Control

基　　金：“十三五”国家重点研发计划项目子课题(2017YFD060080204);黑龙江省教育厅省属高校科技成果研发、培育项目(TSTAU-R2018002)

摘　　要：针对复合材料工件表面打磨的机器人主动柔顺恒力控制问题,提出一种基于位置控制的自适应阻抗控制方案。研究了复合材料打磨作业的实际加工过程,通过接触力反馈信号给出控制机器人末端参考位置的控制方法。对传统的阻抗控制方法进行改进,建立机器人参考位置与力跟踪误差的数学模型,并设计自适应控制器,解决了阻抗控制对机械臂末端理想位置的判断问题和打磨轨迹在线补偿问题。对机器人末端的位置轨迹与接触力进行仿真,验证了自适应阻抗控制器柔顺力跟踪的准确性。实验结果表明,自适应阻抗控制方法能够有效地提高复合材料磨削力控制系统的稳定性和鲁棒性,符合复合材料零部件的实际打磨工艺需求。Aiming at the problem of active and smooth constant force control of the surface of composite workpiece polishing,an adaptive impedance control scheme based on position control is proposed.The actual machining process of the composite grinding operation was studied,and the control method of controlling the reference position of the robot end-effector was given by the contact force feedback signal.In order to improve the traditional impedance control method,an adaptive controller was designed based on the mathematical model of the robot reference position and force tracking error,which solved the problem of the impedance control on the ideal position of the robot end-effector and the online compensation of the polishing track.The problem of the impedance control on the ideal position of the end of the arm and the online compensation of the polishing track were solved.The position trajectory and contact force of the robot end-effector were simulated to verify the accuracy of the adaptive impedance controller compliance.The experimental results show that the adaptive impedance control method can effectively improve the stability and robustness of the composite polishing force control system,and meet the actual polishing process requirements of composite parts.

关 键 词：工业机器人 自适应阻抗控制 复合材料打磨 主动柔顺控制 力反馈控制 

分 类 号：TP[自动化与计算机技术]