基于力位混合控制的机器人充电枪装配寻孔算法  

Hole searching control algorithm for robot charging gun assembly based on force position hybrid control

作　　者：徐建明[1] 马益普 胡松达 XU Jianming;MA Yipu;HU Songda(College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023,China)

机构地区：[1]浙江工业大学信息工程学院,浙江杭州310023

出　　处：《浙江工业大学学报》2022年第1期18-25,共8页Journal of Zhejiang University of Technology

基　　金：国家自然科学基金-浙江省自然科学基金联合基金两化融合项目(U1709213);国家自然科学基金面上项目(61374103)。

摘　　要：针对电动汽车充电枪装配问题,提出一种基于速度环的力位混合控制快速寻孔算法。在位置控制空间,考虑到双目视觉系统初始定位不精准,设计了一种基于梯形速度规划的阿基米德螺线轨迹配合向心力引导的寻孔算法。在控制器响应确定的情况下,通过速度规划保证了充电枪与充电枪座之间的接触力恒定和运动稳定性;通过引入充电枪座对充电枪指向装配方向的反作用力即向心力,大幅度提升了寻孔算法的效率。实验结果验证了笔者算法的正确性、有效性。Aiming at the assembly problem of electric vehicle charging guns,a speed loop-based force-position hybrid control algorithm for fast hole finding is proposed.In the position control space of force-position hybrid control,considering the inaccuracy of the initial positioning of the binocular vision system,an Archimedes spiral trajectory based on trapezoidal velocity planning and centripetal force guidance is designed.In the case that the controller response is determined,the contact force between the charging gun and the charging gun base is constant and the movement stability is guaranteed through speed planning.By introducing the centripetal force,which is the reaction force of the charging gun holder to the direction of the charging gun pointing to the assembly direction,the efficiency of the hole finding algorithm is greatly improved.Finally,experiments verify the correctness and effectiveness of the algorithm.

关 键 词：电动汽车充电 轴孔装配 力位混合控制 轨迹规划 阿基米德螺线 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]