多自由度机器人抓取末端振动自动稳健性控制技术  

Automatic Robustness Control Technology for Vibration of Multi DOF Robot Grasping End

作　　者：姚莹 YAO Ying(College of Intelligent Manufacturing,Shaanxi Institute of Mechatronic Technology,Baoji 721001,China)

机构地区：[1]陕西机电职业技术学院智能制造学院,陕西宝鸡721001

出　　处：《机械制造与自动化》2023年第4期164-168,共5页Machine Building & Automation

摘　　要：针对多自由度机器人抓取末端控制精度低、稳定性差、控制延迟长的问题,提出抓取末端振动自动稳健性控制技术。建立符合惯性力项、重力项、离心力项与哥式力项的动力学模型,分析多自由度机器人的动力学变量;选择自适应增益比例、位置加权因子、速度加权因子作为优化目标参数,补偿位置阻抗环境刚度与位置估算的参数误差;设计稳健的多自由度机器人抓取末端自动控制方法。实验结果表明:所提方法的抓取末端振动抑制效果较佳,完成控制指令时间短,控制精度好。For low control accuracy,poor stability and long control delay of the grasping end,an automatic robustnessp control technology of multi degree of freedom(DOF)robot grasping end vibration is proposed.A dynamic model conforming to the inertia force term,gravity term,centrifugal force and Coriolis force term is established,and the dynamical variables of the multi DOF robot are analyzed.Adaptive gain ratio,position weighting factor,velocity weighted factor are selected as optimized target parameters,the parameter errors of the position impedance environmental stiffness and position estimation are compensated,and a robust automatic control method for the grasping end of the multi DOF robot is designed.The experimental results show that the vibration suppression effect of the multi DOF robot is better with shorter time in completing control command and better control accuracy.

关 键 词：动力学模型 参数分析 自适应自动控制器 多自由度机器人 抓取末端 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]