基于梯度迭代的阻抗控制曲面跟踪方法仿真  

Simulation of Impedance Control Surface Tracking Method Based on Gradient Iteration

作　　者：卢承华 朱明超[1] 王栋[1,3] 吴清文 LU Cheng-hua;ZHU Ming-chao;WANG Dong;WU Qing-wen(Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun Jilin 130033,China;University of Chinese Academy of Sciences,Beijing 100049,China;Changguang Satellite Technology Co.LTD,Changchun Jilin 130033,China)

机构地区：[1]中国科学院长春光学精密机械与物理研究所,吉林长春130033 [2]中国科学院大学,北京100049 [3]长光卫星技术有限公司,吉林长春130033

出　　处：《计算机仿真》2022年第11期438-442,共5页Computer Simulation

基　　金：国家自然科学基金(51605465);吉林省科技发展计划(20180201020GX)。

摘　　要：针对机器人末端执行器和未知曲面接触时对未知曲面跟踪难的问题,提出一种基于梯度迭代的机器人阻抗控制算法。建立机器人末端执行器与未知曲面接触的阻抗控制模型,并将模型简化为阻尼系数变化的新型阻抗模型;设置与位置、力误差相关的损耗函数作为曲面跟踪与预测效果的度量;通过基于梯度上升迭代的方法优化阻尼系数,在力误差与位置误差允许范围内,找到最优阻尼系数。利用Matlab进行的仿真证明,经过10次迭代后,曲面跟踪与预测过程的损耗逐渐减小,跟踪位置误差逐渐减小,跟踪力逐渐趋近于理想力,力误差、位置误差表现出收敛趋势且达到设定的误差精度要求,证明了算法针对曲面跟踪与预测应用的有效性,达到了理想目标。Aiming at the application of tracking the unknown surface when the robot’s end-effector contact the unknown surface,a robot impedance control algorithm based on gradient iteration is proposed.Firstly,the impedance control model of the robot end effector in contact with the unknown surface was established,and the model was simplified to a new impedance model with varying damping coefficients.Secondly,we set the loss function related to position and force error as a measure of the surface tracking and prediction effect.Finally,the damping coefficient was optimized by the iterative method based on gradient ascent,and the optimal damping coefficient was found within the allowable range of force error and position error.The simulation experiment conducted by Matlab proves that after 10 iterations,the loss of the surface tracking and prediction process gradually decreases,the tracking position error gradually decreases,the tracking force gradually approaches the ideal force,and the force error and position error show a trend of convergence.The set error range requirements are met,which proves the effectiveness of the algorithm for surface tracking and prediction applications,and achieves the ideal goal.

关 键 词：阻抗控制 曲面跟踪 梯度迭代 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]