机器人磨削力控变速积分自适应阻抗控制  

Adaptive Impedance Control by Force Controlled Variable Integral in Robot Grinding

作　　者：祁若龙 姚凤阳[1] 刘殿海 朱光[2] 李论[2] QI Ruolong;YAO Fengyang;LIU Dianhai;ZHU Guang;LI Lun(School of Mechanical Engineering,Shenyang Jianzhu University,Shenyang 110168,China;Manufacturing Equipment and Intelligent Robotics Department,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110169,China)

机构地区：[1]沈阳建筑大学机械工程学院,辽宁沈阳110168 [2]中国科学院沈阳自动化研究所工艺装备与智能机器人研究室,辽宁沈阳110169

出　　处：《机器人》2025年第2期259-268,共10页Robot

基　　金：国家自然科学基金(52405570);辽宁省自然科学基金(2023MS034).

摘　　要：在复杂曲面磨削力控制过程中,工件曲率不确定性所带来的磨削力波动会极大地影响零件表面质量。为解决这一问题,本文结合变速积分PID(比例-积分-微分)前馈控制器和自适应控制算法,提出了一种新的机器人力控制方法。根据6维力传感器采集的接触力信号和上位机传输回的机器人末端位置信号在线修改机器人运动偏置量,对机器人末端进行精准的力控制,从而降低工况信息不确定性引起的力跟踪误差。仿真及实验数据的对比表明:该方法能够快速响应工件参数的变化,有效减小接触力的跟踪误差,缩短稳态调节时间,弥补了传统位置阻抗控制策略无法提前获取工件参数的缺陷。实验证明了本文力控制方法可以有效提高恒参数位置阻抗控制的力跟踪性能,使变曲率表面磨削粗糙度从约0.6μm降低至近0.4μm,提升了机器人磨削工艺性能。In the grinding force control process for complex surfaces,the fluctuation of grinding force caused by the uncertainty of workpiece curvature will greatly affect the surface quality of parts.In order to solve this problem,a robot force control method is proposed by combining variable integral PID(proportional-integral-differential)feedforward controller and adaptive control algorithm.According to the contact force signal collected by the 6-dimensional force sensor and the robot end position signal sent by the upper computer,the robot motion bias is modified online to implement accurate force control on the robot end,thereby reducing the force tracking error caused by the uncertainty of operating information.The comparison between simulation and experimental data shows that the proposed method can quickly respond to the change of workpiece parameters,effectively reduce the tracking error of contact force,and shorten the steady-state adjustment time,which makes up for the defect that the traditional position-based impedance control strategy cannot obtain workpiece parameters in advance.Experimental results show that the force control method proposed can effectively improve the force tracking performance of position-based impedance control with constant parameters,so that the grinding roughness of the surface with variable curvature is reduced from about 0.6μm to nearly 0.4μm,and the robot grinding performance is improved.

关 键 词：机器人 力控制 自适应控制 阻抗控制 

分 类 号：TG580.6[金属学及工艺—金属切削加工及机床] TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]