缝纫机器人对织物张力与位置的模糊阻抗控制  

Force and position fuzzy impedance control of a sewing robot

作　　者：王晓华[1] 王育合 张蕾[1] 王文杰 WANG Xiaohua;WANG Yuhe;ZHANG Lei;WANG Wenjie(College of Electronics and Information, Xi′an Polytechnic University, Xi′an, Shaanxi 710048, China)

机构地区：[1]西安工程大学电子信息学院,陕西西安710048

出　　处：《纺织学报》2021年第11期173-178,共6页Journal of Textile Research

基　　金：国家自然科学基金项目(51905405);教育部工程科技人才培养研究项目(18JDGC029);陕西省重点研发计划项目(2019ZDLGY01-08);陕西省教育厅自然科学专项项目(19JK0375)。

摘　　要：为解决缝纫机器人末端执行器在按压织物滑动前行和按压织物缝纫时需要保证织物不起褶皱且缝纫轨迹针脚均匀的问题,采用模糊阻抗控制方法对机器人末端位置以及机器人末端与织物接触力的同时控制。建立缝纫机器人实际缝纫系统模型,采取将机器人末端按压织物的力与按压位置进行力/位阻抗控制的策略,并根据模糊规则选取了缝纫系统最优阻抗参数。实验结果表明:模糊阻抗控制方法能够实现机器人操作织物的位置和机器人末端按压织物操作力之间的动态平衡,能够在保证机器人各关节平稳运动的基础上实现缝纫时接触力和位置的同时控制要求。The end-effector of a sewing robot needs constant force when pressing the fabric for forward movement and sewing so as to ensure wrinkle free in fabrics and uniform sewing track,the fuzzy impedance control method was used to control simultaneously the robot end position and the contact force between the robot end and the fabric.According to the actual sewing task of the sewing robot,the system model was established,and the force/impedance control strategy was adopted to control the force and position of the robot′s end press on the fabric,and the optimal impedance parameters of the sewing system were selected according to fuzzy rules.The dynamic balance between the position of the robot operating the fabric and the operating force pressing the fabric at the end of the robot was established,and the simultaneous control requirements of the contact force and position during sewing achieved on the basis of ensuring the smooth movement of each joint of the robot.

关 键 词：缝纫机器人 缝纫系统 模糊阻抗控制 接触力 按压位置 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]