擦玻璃机器人的自适应阻抗控制研究  

Research on Glass Cleaning Robot Based on Adaptive Impedance Control

作　　者：尹恒健 倪受东[1] YIN Heng-jian;NI Shou-dong(College of Mechanical and Power Engineering,Nanjing Tech University,Jiangsu Nanjing 211800,China)

机构地区：[1]南京工业大学机械与动力工程学院,江苏南京211800

出　　处：《机械设计与制造》2022年第7期270-274,共5页Machinery Design & Manufacture

基　　金：江苏省科技计划项目(BY2016005-05)。

摘　　要：为了提高擦玻璃机器人在作业过程中的清洁度,以PUMA560机器人为研究模型,采用了自适应阻抗控制算法来设计控制器。根据自适应阻抗原理框图,在MATLAB中建立相应的仿真模型,对机器人末端位置和接触力进行跟踪仿真,然后引进粒子群算法对仿真模型中的几个参数进行优化处理,最后测量该仿真模型承受的最大期望力。仿真之后的结果表明,自适应阻抗控制器达到了预期的控制效果,粒子群算法的优化缩短了接触力的稳定时间,所测得的最大期望力在实际运用中有可行性。In order to improve the cleanliness of glass cleaning robot during operation,the controller is designed by usingPUMA560 robot as the research model and adaptive impedance control algorithm.According to the block diagram of adaptive impedance principle,the corresponding simulation model was established in MATLAB to track the position and contact force of the robot,and then the particle swarm optimization algorithm was introduced to optimize several parameters in the simulation model,and finally the maximum expected force borne by the simulation model was measured.The simulation results show that the adaptive impedance controller achieves the expected control effect,and the optimization of particle swarm optimization algorithm shortens the stabilization time of contact force,and the measured maximum expected force is feasible in practical application.

关 键 词：PUMA560机器人 自适应阻抗控制 MATLAB仿真 粒子群算法 

分 类 号：TH16[机械工程—机械制造及自动化] TH113