基于自抗扰控制的机械臂末端力/位置控制  

ADRC-based end-effector force/position control for robotic arm

作　　者：郑宏伟 刘福才[2] ZHENG Hongwei;LIU Fucai(Engineering Research Center of Ministry of Education for Intelligent Control System and Intelligent Equipment,Yanshan University,Qinhuangdao 066004;Key Lab of Industrial Computer Control Engineering of Hebei Province,Yanshan University,Qinhuangdao 066004)

机构地区：[1]燕山大学智能控制系统与智能装备教育部工程研究中心,秦皇岛066004 [2]燕山大学工业计算机控制工程河北省重点实验室,秦皇岛066004

出　　处：《高技术通讯》2024年第6期642-650,共9页Chinese High Technology Letters

基　　金：载人航天领域预研项目(2016040301);河北省自然科学基金(F2022203043);省级重点实验室绩效补助经费(22567612H)资助项目

摘　　要：针对机械臂末端力/位置控制问题,提出一种基于自抗扰控制(ADRC)的间接力/位置混合阻抗控制方案,将间接力/位置混合控制与阻抗控制相结合,在机械臂未与环境接触时采用位置控制,在与环境接触后切换为间接力控制,并体现出阻抗特性。该方案将混合阻抗控制与ADRC相结合,根据机械臂与环境接触时的阻抗模型建立ADRC控制器,并将阻抗参数视为系统总扰动的一部分,利用扩张状态观测器进行估计补偿,实现在无需计算阻抗参数的情况下使间接力/位置混合阻抗控制器在面对扰动时有较好的稳定性和鲁棒性。完成二自由度机械臂模型的仿真,并与传统阻抗控制器进行了比较,结果验证了所提出的基于ADRC的间接力/位置混合阻抗控制方案的有效性。A novel approach is proposed for the end-effector force/position control of a robotic arm based on active disturbance rejection control(ADRC)called the indirect force/position mixed impedance control scheme.This scheme combines indirect force/position mixed control with impedance control,where position control is utilized when the robotic arm is not in contact with the environment,and switches to indirect force control with impedance characteristics upon contact with the environment.Furthermore,this scheme integrates mixed impedance control with ADRC by establishing an ADRC controller based on the impedance model of the robotic arm when in contact with the environment.The impedance parameters are treated as part of the total disturbance of the system.A extended state observer is employed to estimate and compensate for these parameters,thereby achieving better stability and robustness of the indirect force/position mixed impedance controller in the presence of disturbances without the need for computing impedance parameters.Finally,simulation using a two-degree-of-freedom robotic arm model is done,and the proposed ADRC-based indirect force/position mixed impedance control scheme is compared with traditional impedance controllers.The effectiveness of the proposed scheme is verified.

关 键 词：机械臂 间接力/位置混合控制 自抗扰控制(ADRC) 阻抗控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP241[自动化与计算机技术—控制科学与工程]