摘要
为提高磨抛机器人末端恒力执行器在不同工况下的位置跟踪和接触力跟踪性能,并减小力位切换控制时的执行器位移误差和接触力误差,文中运用功率键合图法对机器人末端执行器进行建模,并提出一种滑膜模糊阻抗力位切换控制策略,在AMESim软件中对恒力执行器进行动态仿真并搭建实验验证平台进行验证,实验结果表明:该控制策略可以使机器人末端力控执行器具有更好的力位跟踪性能,同时可以减小力位切换控制时的力位跟踪误差。
In order to improve the position tracking and contact force tracking performance of the constant force actuator at the end of the grinding and polishing robot under different working conditions,and to reduce the actuator displacement error and contact force error during force-position switching control,this paper uses the power bonding diagram method to model the robot end actuator and proposes a slip film fuzzy impedance force-position switching control strategy,and carries out dynamic simulation of the constant force actuator in AMESim software and builds an experimental platform.The experimental results show that the control strategy can improve the force tracking performance of the robot end-effector and reduce the force tracking error during force level switching control.
作者
阮正达
乔志峰
RUAN Zhengda;QIAO Zhifeng(Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,Tianjin University of Technology,Tianjin 300384,China;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education,Tianjin University of Technology,Tianjin 300384,China)
出处
《天津理工大学学报》
2024年第6期34-40,共7页
Journal of Tianjin University of Technology
基金
天津市新一代人工智能科技重大专项(19ZXZNGX00100)
天津市企业科技特派员项目(20YDTPJC00790,20YDTPJC01730)。
关键词
气压传动
功率键合图
机器人磨抛系统
联合仿真
滑膜控制
pneumatic transmission
power bonding diagram
robotic grinding and polishing system
co-simulation
synovial control
作者简介
阮正达(1998-),男,硕士研究生,研究方向:智能制造技术、打磨工艺设计等,E-mail:2821129690@qq.com;通信作者:乔志峰(1985-),男,讲师,博士,研究方向:机器人控制系统设计、智能制造技术等,E-mail:qiaozhifeng@163.com。
