CAJ | 학술논문

设计了沿任意倾斜面的机器人自适应阻抗控制方法,该方法解决了接触面法向方向、环境阻尼、刚度参数未知对机器人力/位置控制的影响问题。在机器人与倾斜面碰撞接触过程中采用递归最小二乘（RLS）算法估计环境的阻尼、刚度,根据接触力矩实际值与期望值的偏差实现机器人末端期望姿态的调整;在机器人末端沿倾斜面滑动阶段,设计规则自调整的模糊控制器,根据机器人末端位移、接触力误差实时调整机器人阻抗控制模型参数,以适应环境阻尼、刚度的变化。提出的控制方法具有编程实现简单且对环境参数变化鲁棒性较强的优点,实验验证了控制方法的有效性。
설계료연임의경사면적궤기인자괄응조항공제방법,해방법해결료접촉면법향방향、배경조니、강도삼수미지대궤기인력/위치공제적영향문제。재궤기인여경사면팽당접촉과정중채용체귀최소이승（RLS）산법고계배경적조니、강도,근거접촉력구실제치여기망치적편차실현궤기인말단기망자태적조정;재궤기인말단연경사면활동계단,설계규칙자조정적모호공제기,근거궤기인말단위이、접촉력오차실시조정궤기인조항공제모형삼수,이괄응배경조니、강도적변화。제출적공제방법구유편정실현간단차대배경삼수변화로봉성교강적우점,실험험증료공제방법적유효성。
This paper introduced an adaptive impedance control of a robot for the arbitrarily inclined planel tracking,it overcomes the problem of force position tracking for the constraint surface with unknown normal direction and uncertainties of the environmental damping and stiffness.The proposed method used the recursive least square algorithm to estimate the environment damping and stiffness during the impact-contact,and achieved the expected attitude adjustment for the robot end-effector based on the difference between the actual and expected contact moment,During the robot end-effector sliding on the inclined plane,a rule self-adjusting fuzzy logic controller was developed to adjust the robot impedance control parameters on-line based on the robot end-effector position and force tracking errors to adapt to the variations of the environmental damping and stiffness.The designed robot force position control method is robust to the changes of the environmental parameters,but the implementation of the algorithm programming is simple.The experiments demonstrate the effectiveness of the approach.