电磁导航式工业机器人力跟踪刚度自动控制研究  

Research on automatic control of manual tracking stiffness of electromagnetic navigation industrial machine

作　　者：张洪国[1] 吕元锋[1] 刘贤喜[2] ZHANG Hongguo;LV Yuanfeng;LIU Xianxi(Laiwu Vocational and Technical College Laiwu,Shandong 271100,China;Shandong Agricultural University,Shandong Taian 271000,China)

机构地区：[1]莱芜职业技术学院,山东莱芜271100 [2]山东农业大学,山东泰安271000

出　　处：《自动化与仪器仪表》2020年第5期21-24,共4页Automation & Instrumentation

基　　金：“十三五”国家重点研发项目子课题(No.2016YFD0700502)。

摘　　要：基于我国工业进程的迅猛发展,工业机器人的使用与日俱增。针对原有工业机器人力跟踪控制方法跟踪响应较差的问题,设计电磁导航式工业机器人力跟踪刚度自动控制方法。采用D-H参数构建工业机器人运动模型。在机器人控制系统中构建模糊力控制器,并通过遗传算法对控制因子进行优化。在机器人基座安装力传感器进行力的信号采集,并通过采集结果进行刚度矩阵计算,采用嵌入式系统结合工业以太网实现机器人力跟踪刚度自动控制。至此,电磁导航式工业机器人力跟踪刚度自动控制方法完成。构建对比试验,与原有控制方法相比,此控制方法与样本轨迹更为贴近。原有方法与样本之间的力跟踪轨迹误差为30%,此方法仅为5%。由此可见,此方法更为有效。Based on the rapid development of China’s industrial process,the use of industrial robots is increasing day by day.Aiming at the poor tracking response of the original industrial machine manpower tracking control method the electromagnetic navigation automatic control method of industrial machine manpower tracking stiffness is designed.D-H parameters are used to construct the motion model of industrial robot.Fuzzy force controller is built in robot control system and the control factors are optimized by genetic algorithm.A force sensor is installed on the base of the robot to collect the force signal,and the stiffness matrix is calculated based on the collected results.So far,the electromagnetic navigation industrial machine manpower tracking stiffness automatic control method is completed.Compared with the original control method,this control method is closer to the sample trajectory.The error between the original method and the sample is 30%,while this method is only 5%.Therefore,this method is more effective.

关 键 词：电磁导航 工业机器人 力跟踪刚度 自动控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]