主动柔顺抛磨力在协作机器人的控制方法  

Active Compliant Polishing Force in Cooperative Robot Control Method

作　　者：布挺[1,2,3] 张刚 焦文潭[1,2,3] 王波 BU Ting;ZHANG Gang;JIAO Wen-tan;WANG Bo(Luoyang Institute of Technology,He’nan Luoyang471000,China;He’nan Embedded Technology Application Engineering Technology Research Center,He’nan Luoyang471003,China;He’nan Embedded Technology Application Engineering Research Center,He’nan Luoyang471000,China)

机构地区：[1]洛阳理工学院,河南洛阳471000 [2]河南省嵌入式技术应用工程技术研究中心,河南洛阳471003 [3]河南省嵌入式技术应用工程研究中心,河南洛阳471000

出　　处：《机械设计与制造》2020年第5期276-280,共5页Machinery Design & Manufacture

基　　金：国家自然科学基金项目—基于孔洞结构压电驻极体的柔性自驱动传感器研究(61501215)。

摘　　要：提出了一种基于主动柔顺的机器人抛磨力控制方法,该力反馈末端执行器将被安装到ur协作机器人末端法兰的集成单元中。基于主动柔性装置的力/位混合控制策略,提出了抛磨系统控制装置控制机器人的位置并控制位置控制。通过集成一个力传感器,测量抛磨力并反馈给控制器,根据抛磨的预先计划要求对其进行调节。协作机器人末端执行器具有抛磨头,机器人控制器的力控算法操作抛磨头,从而实现恒力抛磨,以提供抛磨工具的柔度。在建模分析之后,使用复合非线性反馈控制算法来改善协作机器人本体的力控动态瞬时反映效果。经过实验表明,基于主动柔顺的机器人抛磨力控制算法可以有效的跟踪和补偿力和位置数据,具有较好的减振效果和显著的力跟踪效果。This paper proposes a control method of robot polishing force based on active pliability. The force feedback endeffector will be installed into the integration unit of ur cooperative robot end flange. Based on the force/position hybrid control strategy of the active flexible device,the control device of the polishing system is put forward to control the position of the robot and control the position. By integrating a force sensor,the polishing force is measured and fed back to the controller,which is adjusted according to the pre-planned requirements of polishing. The end effector of the cooperative robot has a polishing head,which is operated by the force control algorithm of the robot controller to achieve constant force polishing and provide the flexibility of polishing tools. After modeling and analysis,a compound nonlinear feedback control algorithm is used to improve the dynamic instantaneous response of the robot. Experimental results show that the algorithm can track and compensate the force and position data effectively,and has better effect of vibration reduction and force tracking.

关 键 词：机器人抛磨 主动柔顺 力/位混合控制 非线性反馈 

分 类 号：TH16[机械工程—机械制造及自动化]