面向机器人磨抛的力控装置及自抗扰阻抗控制  

Force-Controlled Device and Active Disturbance Rejection Impedance Control for Robot Polishing

作　　者：李俊杰 熊次远 方灶军 廉宏远 张启平 LI Junjie;XIONG Ciyuan;FANG Zhaojun;LIAN Hongyuan;ZHANG Qiping(Zhejiang Key Laboratory of Robotic and Intelligent Manufacturing Equipment Technology,Ningbo Institute of Materials Technology&Engineering,Chinese Academy of Science,Ningbo 315201,China)

机构地区：[1]中国科学院宁波材料技术与工程研究所浙江省机器人与智能制造装备技术重点实验室,宁波315201

出　　处：《组合机床与自动化加工技术》2025年第2期35-39,45,共6页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：浙江省科技计划项目(2022C01096)。

摘　　要：随着机器人技术的发展,机器人应用场景逐渐从搬运、焊接、喷涂等非接触式作业,向去毛刺、打磨、抛光等接触式作业延伸,针对轮毂、模具等工件磨抛需求,以及气动驱动存在迟滞、力控精度较低问题,提出一种基于音圈电机的力控装置及自抗扰阻抗控制方法。首先,对力控装置进行理论分析与建模,得出磨抛作业过程中的动力学模型,设计阻抗控制器,并证明了其全局渐进稳定性,为消除作业过程中力控装置导轨摩擦力、音圈电机力常数拟合误差以及环境变化等干扰,提出了一种基于线性扩张状态观测器的自抗扰阻抗控制器。最后,搭建了基于Labview的实验平台,分别采用阻抗控制器和自抗扰阻抗控制器对力控装置进行阶跃响应、曲面恒力跟踪和不同材料打磨对比实验,实验结果表明自抗扰阻抗控制器相比阻抗控制器阶跃响应时间减小0.2 s,曲面恒力跟踪接触力最大误差减少73%,在动态响应能力和跟随控制性能上都得到了提高,且可适用于多种不同材料打磨,验证了算法的有效性和鲁棒性。With the development of robot technology,the robot application scene gradually extends from non-contact operations such as handling,welding,spraying,to contact operations such as deburring,polishing,etc.,aiming at grinding and polishing demand of the parts such as hub and mould,and the problems of pneumatic drive exists hysteresis,force-controlled accuracy is low,a radial force-controlled device based on voice coil motor and active disturbance rejection impedance control method are presented.Firstly,the radial force-controlled device is analyzed and modeled,the dynamic model of grinding and polishing process is obtained,the impedance controller is designed,and its global asymptotic stability is proved,in order to eliminate the disturbance such as the friction of the radial force control device,the fitting error of the force constant of voice coil motor and the change of environment,an active disturbance rejection impedance controller based on the linear expanding state observer is proposed.Finally,the experiment platform based on Labview is built,and the step response and constant force tracking on curved surface experiments on the radial force control device are carried out by using impedance controller and active disturbance rejection impedance controller respectively,the experimental results show that compared with the impedance controller,the active disturbance rejection controller can reduce the step response time by 0.2 s and the maximum contact force error of constant force tracking on curved surface by 73%,the dynamic response ability and the following control performance are improved,and the effectiveness of the algorithm are verified.

关 键 词：力控装置 阻抗控制 自抗扰控制 音圈电机 工业机器人 打磨 抛光 

分 类 号：TH165[机械工程—机械制造及自动化] TG58[金属学及工艺—金属切削加工及机床]