曲面抛光机器人的模糊自适应阻抗控制  

Fuzzy adaptive impedance control of surface polishing robot

作　　者：陈满意[1] 朱自文 朱义虎 韩天勇 CHEN Manyi;ZHU Ziwen;ZHU Yihu;HAN Tianyong(School of Mechanical and Electrical Engineering,Wuhan University of Technology,Wuhan 430070,China)

机构地区：[1]武汉理工大学机电工程学院,湖北武汉430070

出　　处：《计算机集成制造系统》2024年第6期2090-2099,共10页Computer Integrated Manufacturing Systems

摘　　要：为了使机器人在曲面零件抛光过程中实现精确的力控制,进行了合理的轨迹规划与重力补偿分析,分析了阻抗控制参数对力控制稳态误差的影响。建立了曲面法向上的系统刚度模型,为了使机器人抛光系统在不同系统刚度下能够具有较好的力跟踪性能,提出能够适应系统刚度变化的模糊自适应阻抗控制模型,该模型根据力误差和力误差率,按照一定的模糊规则调整阻抗控制参数,实现了稳定的法向力控制和位置控制。仿真和试验表明,模糊自适应阻抗控制模型力控制的最大误差在±2 N以内,利用该模型抛光的圆柱凹型曲面工件表面轮廓算术平均偏差达到0.035μm,相比传统阻抗控制模型降低了59.7%,抛光质量也得到显著提高。To enable the robot to achieve precise force control during the polishing of curved parts,a reasonable trajectory planning and gravity compensation analysis were carried out,and the influence of impedance control parameters on the steady-state error of force control was analyzed.A system stiffness model in the normal direction of the curved surface was established.To make the robot polishing system had better force tracking performance under different system stiffnesses,a fuzzy adaptive impedance control model that could adapt to changes in system stiffness was proposed.This model adjusted impedance control parameters according to the force error and force error rate by certain fuzzy rules,so as to realize stable normal force control and position control.Simulation and experiments showed that the maximum error of force control of the fuzzy adaptive impedance control model was within±2 N,and the arithmetic mean deviation of the surface profile of the cylindrical concave curved workpiece polished by this model reaches 0.035μm,which was 59.7% lower than that of the traditional impedance control model,and the polishing quality had also been significantly improved.

关 键 词：抛光 阻抗控制 系统刚度 模糊自适应 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]