基于模糊RBF导纳控制的恒力打磨技术研究  

Research on Constant Force Grinding Technology Based on Fuzzy RBF Admittance Control

作　　者：姜涛[1] 毕建民 JIANG Tao;BI Jianmin(School of Mechanical Engineering,Changchun University of Science and Technology,Changchun 130022)

机构地区：[1]长春理工大学机电工程学院,长春130022

出　　处：《长春理工大学学报（自然科学版）》2022年第5期67-73,共7页Journal of Changchun University of Science and Technology(Natural Science Edition)

摘　　要：为了实现打磨过程的恒力控制,研究法向位移与打磨力之间的动态关系,提出一种基于模糊RBF的导纳控制算法,通过调节阻尼系数B和刚度系数K来对机器人末端进行控制,从而保证机器人打磨力恒定。将传统导纳控制算法与基于模糊RBF的变导纳控制算法在虚拟平台上进行仿真实验对比,并搭建机器人平面打磨控制平台进行实验验证,实验结果表明:基于模糊RBF的导纳控制能够较好地抑制超调量,稳态误差小,能够有效的对恒力进行跟踪,保证了工件表面质量。In order to realize the constant force control in the grinding process,the dynamic relationship between the normal movement and the grinding force is studied;and an admittance control algorithm based on Fuzzy RBF is proposed. The robot control the end effector by adjusting the damping coefficient B and stiffness coefficient K to ensure the constant grinding force of the robot. In this paper,the traditional admittance control algorithm is compared with the variable admittance control algorithm based on Fuzzy RBF on the virtual platform;and the robot’s plane grinding control platform is built for experiment. The experimental results show that the admittance control based on Fuzzy RBF not only can better suppress the overshoot;but also has small steady-state error and can effectively track the constant force. The surface quality of the work-piece is guaranteed.

关 键 词：机器人 导纳控制 模糊RBF 力反馈 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]