基于导纳控制的喷涂机器人直接示教方法研究  

Research on the direct teaching method of spraying robot based on admittance control

作　　者：付兴 徐海波[2] 李月 陈磊[1] 王黎光 Fu Xing;Xu Haibo;Li Yue;Chen Lei;Wang Liguang(Institute of Systems Engineering,CAEP,Mianyang 621999,Sichuan,China;School of Mechanical Engineering,Xi’an Jiaotong University,Xi’an 710049,China;Institute of Machinery Manufacturing Technology,CAEP,Mianyang 621999,Sichuan,China)

机构地区：[1]中国工程物理研究院总体工程研究所,绵阳621999 [2]西安交通大学机械工程学院,西安710049 [3]中国工程物理研究院机械制造工艺研究所,绵阳621999

出　　处：《现代制造工程》2020年第12期49-54,82,共7页Modern Manufacturing Engineering

摘　　要：基于导纳控制形成了一种机器人直接示教的新型控制方法。构建了导纳控制模型并对控制器中的惯性配置参数与阻尼配置参数进行了分析,得到了各参数对运动控制影响效果的基本规律。综合喷涂任务段的余弦相似度、示教引导交互力与机器人的运行速度参数,实现了导纳控制器中阻尼配置参数的模糊变参数配置,并通过试验验证了控制方法的有效性。Based on admittance control,a new control method for robot direct teaching was established.The admittance control model was constructed and the inertia coefficient and damping coefficient in the controller were analyzed.The basic law of the effect of parameters on motion control was obtained.The fuzzy variable parameter configuration of the damping coefficient in the admittance controller was realized by integrating the cosine similarity of spraying task,the teaching guidance force and robot running speed parameters.The effectiveness of the control method was verified by experiments.

关 键 词：直接示教 导纳控制 模糊控制 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]