基于电液混合串联式机械臂末端力柔顺性控制研究  

Study on Control of the End Force Softness for Electric Fluid Hybrid Series Robot Arm

作　　者：樊爱珍[1] FAN Ai-zhen(Shaanxi Polytechnic Institute,Public Course Teaching Department,Xianyang 712000,China)

机构地区：[1]陕西工业职业技术学院公共课教学部,陕西咸阳712000

出　　处：《液压气动与密封》2020年第12期5-9,共5页Hydraulics Pneumatics & Seals

基　　金：陕西省咸阳城市污水预处理工艺改良项目(2018k02-18)。

摘　　要：基于传统串联式机械臂末端采用位置伺服控制,纯位置控制无法满足末端与外界环境柔性接触,尤其是串联式焊接机器人末端接触力一旦过大,容易造成末端受损,就这一问题提出了一种位置内环阻抗外环的柔顺性控制方法。首先,建立串联式机械臂D-H坐标法则,对机械臂进行运动学分析;其次,设计了串联式机械臂柔顺性控制算法,内环采用前馈PID位置控制算法,外环采用常规定阻抗算法;最后,结合实际串联式机械臂平台进行末端接触力柔顺控制实验。实验结果验证了该位置内环阻抗外环的柔顺性控制方法的有效性,能够很好地解决串联式机械臂末端接触力过大问题。Based on the traditional series robot arm end using position servo control,pure position control can't meet the end and the outside environment flexible contact,especially the series welding robot end contact force once too large,easy to cause end damage,on this issue proposed a position inner ring impedance outer ring soft control method.Firstly,the d-H coordinate law of the series robot arm is established to carry on the kinematic analysis of the robot arm,secondly,the series robot arm is designed to control the softness of the robot arm,the inner ring adopts the feed-forward PID position control algorithm,the outer ring adopts the usual pro-impedance algorithm,and finally,the end contact soft control experiment is carried out in combination with the actual series robot arm platform.The experimental results verify the effectiveness of the softness control method of the inner ring impedance outer ring in this position,and can solve the problem of excessive contact force at the end of the series robot arm.

关 键 词：串联式机械臂 柔顺性控制 运动学分析 前馈PID 

分 类 号：TH137[机械工程—机械制造及自动化] TP24[自动化与计算机技术—检测技术与自动化装置]