3-PPSR柔性并联机器人力控制研究

发布时间：2018-02-10 06:36

本文关键词： 柔性并联机器人阻抗控制自适应控制力控制　出处：《西安交通大学学报》2017年04期 　论文类型：期刊论文

【摘要】：针对3-PPSR并联机器人加入大长径比柔性铰链和与外界环境接触产生形变的问题,在控制端提出了基于位置阻抗控制的主动柔顺控制策略。该方法在柔性并联机器人与外界环境对象的等效作用模型和基于位置的阻抗控制模型基础上,引入外界环境作用力和结合系统的力跟踪模型,通过调整初始参考位置控制模型的稳态误差实现基于位置的外力跟踪控制。采用Lyapunov稳定模型和能量方程,在未知环境变量条件下通过力偏差直接控制目标位置的自适应控制系统实现自适应的力控制。实验结果表明,基于位置的外力控制精度可以达到±0.05N,应用自适应控制精度可以达到±0.1N,3-PPSR柔性并联机器人的末端的接触力控制精度得到了提高,满足设计要求,验证了该控制方法的准确性和有效性。
[Abstract]:For 3-PPSR parallel manipulators with large aspect ratio flexure hinges and contact with the outside environment, the deformation is caused. An active compliance control strategy based on position impedance control is proposed at the control end, which is based on the equivalent action model between the flexible parallel robot and the external object and the position based impedance control model. The external force tracking control based on position is realized by adjusting the steady-state error of the initial reference position control model by introducing the external force and the force tracking model of the system. The Lyapunov stability model and energy equation are adopted. The adaptive force control is realized by the adaptive control system which directly controls the position of the target under the condition of unknown environmental variables. The experimental results show that, The external force control precision based on position can reach 卤0.05N, and the contact force control precision of the end of the flexible parallel robot can be improved by using adaptive control precision. The accuracy and effectiveness of the control method are verified.
【作者单位】：哈尔滨工业大学机器人技术与系统国家重点实验室;
【基金】：国家自然科学基金创新研究群体科学基金资助项目(51521003) 哈尔滨工业大学机器人技术与系统国家重点实验室自主研究课题资助项目(SKLRS201602C)
【分类号】：TP242

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