基于分数阶阻抗的机器人动态接触控制仿真  

Simulation of Robot Dynamic Contact Control Based on Fractional Order Impedance

作　　者：曹宏利 CAO Hongli(College of Mechanical and Vehicle Engineering,Taiyuan University of Technology,Taiyuan 030024,China)

机构地区：[1]太原理工大学机械与运载工程学院,太原030024

出　　处：《太原理工大学学报》2022年第6期1160-1167,共8页Journal of Taiyuan University of Technology

基　　金：山西省自然科学青年基金资助项目(202103021223109)。

摘　　要：针对机器人与物理环境动态接触过程中产生的瞬态超调、跟踪响应慢和稳态精度差的问题,提出了基于分数阶的机器人阻抗控制策略。首先,分析当前整数阶阻抗控制接触过程手段依靠改变更新速率和增减弹性项来适应不同任务,设计出了更加灵活的分数阶阻抗控制。根据分数阶阻抗的固有属性设计增益系数将分数阶阻抗映射为整数阶阻抗便于计算和实际应用,并将提升整数阶阻抗控制的一些特性引入到分数阶阻抗进一步提升性能,并分析了动态调整边界。仿真结果表明,所提出的分数阶阻抗能够直接削减接触过程产生的接触力超调峰值,对系统不稳定的振荡行为有一定的抑制作用,适合机器人与动态未知环境接触交互的应用场景。Aiming at the transient overshoot,slow tracking response,and poor steady-state tracking accuracy during the dynamic contact between the robot and the physical environment,a robot impedance control strategy based on fractional order was proposed.First of all,the current method of integer-order impedance control contact process was analyzed,which only relies on changing the update rate and in-decreasing elastic items to adapt to different tasks.A more flexible fractional-order impedance control was designed.According to the inherent properties of fractional impedance,the gain coefficient was designed to map fractional impedance to integer order impedance to facilitate calculation and practical application,and some characteristics of improving integer order impedance control were introduced into fractional impedance to further improve the performance.The dynamically adjustable boundary was analyzed.The simulation results show that the fractional impedance proposed in this paper can directly reduce the contact force overshoot peak generated during the contact process,and has a certain inhibitory effect on the unstable oscillation behaviour of the system.It shows that the fractional impedance is suitable for the application of the contact interaction between robot and dynamic unknown environment.

关 键 词：分数阶阻抗 接触过程 机器人力控制 柔顺控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]