CAJ | 학술논문

针对机器人阻抗控制在实际应用中其性能受环境的阻尼、刚度参数未知或变化影响的问题，提出了一种机器人自适应阻抗控制方法。在定义机器人阻抗控制性能指标的基础上结合阻抗模型刚度变化的几何表示，给出了阻抗模型刚度参数初值计算方法，提出了基于人工神经网络的环境等效刚度在线估计方法，并结合二阶系统临界阻尼条件计算阻抗模型阻尼参数初值。机器人力控制实验结果验证了该方法较已有的机器人阻抗控制方法在参考轨迹平滑性、力控制稳定性和易于工程实践方面有一定的优势。
침대궤기인조항공제재실제응용중기성능수배경적조니、강도삼수미지혹변화영향적문제，제출료일충궤기인자괄응조항공제방법。재정의궤기인조항공제성능지표적기출상결합조항모형강도변화적궤하표시，급출료조항모형강도삼수초치계산방법，제출료기우인공신경망락적배경등효강도재선고계방법，병결합이계계통림계조니조건계산조항모형조니삼수초치。궤기인력공제실험결과험증료해방법교이유적궤기인조항공제방법재삼고궤적평활성、력공제은정성화역우공정실천방면유일정적우세。
The robot impedance control performance decreases with the efffects of changing or un-known environment stiffness and damping parameters in practical applications ,this paper presented a self-adaptive robot impedance control method to resolve this problem .Based on the definition of the robot impedance control performance index and the geometric representation for the impedance model stiffness variation ,the calculation method was illustrated for intitial values of the the impedance mod-el stiffness .Designing an artificial neural network to estimate the environmental equivalent stiffness online and combining with critical damping condition of the second-order system ,a calculation method was provided for the impedance model damping initial values .The results of robot force control experi-ments demonstrate smoother reference trajectory ,improved robot force control stability and feasibility in practices compared to the existing robot impedance control methods.