未知环境下机器人受限机械手PLC阻抗控制系统  

PLC Impedance Control System of Robot Limited Manipulator in Unknown Environment

作　　者：刘静[1] 周凤星[2] LIU Jing;ZHOU Feng-xing(Wuchang Institute of Technology,Hubei Wuhan 420065,China;Wuhan University of Science and Technology,Hubei Wuhan 420065,China)

机构地区：[1]武昌工学院,湖北武汉420065 [2]武汉科技大学,湖北武汉430081

出　　处：《机械设计与制造》2022年第5期115-118,共4页Machinery Design & Manufacture

基　　金：湖北省教育科学规划2020年度一般课题:基于自动化生产线的“一线三层”实践教学模式研究与实现(2020GB134)。

摘　　要：机械手作为能够自动定位控制且可重新编程的多功能机器人,为提高生产效率,提出未知环境下机器人受限机械手PLC阻抗控制系统。分析机械手组成结构,结合理想惯性、黏性阻尼与刚度矩阵,构建阻抗模型;选用西门子S7-200PLC可编程逻辑控制器,明确其主要构成模块与优势;确定旋转编码器、光电传感器等控制系统主要硬件;建立物体空间坐标系,获取定向矩阵;结合协调控制思想,将物体与目标坐标系的六维位移通过空间平移、旋转、连接三种虚拟弹簧表示;计算各类弹簧的储存能量,分别得出弹簧形成的电机力矩,设置阻抗控制规律,针对控制策略设计软件控制程序,完成阻抗系统设计。仿真实验证明,该方法在未知环境下对阻抗具有良好的跟踪性能,能够实现稳定控制。Manipulator is a multi-functional robot with automatic positioning control and reprogramming.In order to improve production efficiency,a PLC impedance control system of robot limited manipulator in unknown environment is proposed.The structure of manipulator is analyzed,and the impedance model is constructed by combining ideal inertia,viscous damping and stiffness matrix.Siemens S7-200 PLC programmable logic controller is selected to study its main modules and advantages.The main hardware of control system such as rotary encoder and photoelectric sensor is determined.The space coordinate system of the object is established to obtain the orientation matrix.Combined with the coordinated control idea,the object is transformed into the object The six-dimensional displacement of the target coordinate system is represented by three kinds of virtual springs:spatial translation,rotation and connection;the stored energy of various springs is determined;the motor torque formed by the spring is obtained respectively;the impedance control law is set;and the system software control program is designed according to the control strategy to complete the impedance system design.The simulation results show that the proposed method has good tracking performance for impedance in unknown environment,so as to achieve stable control.

关 键 词：未知环境 机械手 可编程逻辑控制器 阻抗跟踪 控制系统 

分 类 号：TH16[机械工程—机械制造及自动化] TP29[自动化与计算机技术—检测技术与自动化装置]