工业机器人机械臂加工目标定位控制研究

发布时间：2018-04-28 05:20

本文选题：机械臂 + 目标定位　；参考：《计算机仿真》2017年06期

【摘要】：在工业机器人机械臂加工目标定位控制研究中,为了克服工业机械臂系统的非线性、强耦合性以及机械臂与加工目标的接触力难以精确测量的不利因素,提高加工目标定位的精度,避免由于接触力较大对加工目标和末端工具造成损坏。针对上述问题,提出了采用广义动量观测器估计机械臂与目标的接触力,采用阻抗滑模控制方法提高目标定位的精度。首先建立了机械臂的笛卡尔空间动力学模型;其次可以较好的获取到机械臂与目标的接触力,机械臂能较为精确地跟踪目标位置;然后根据Lyapunov函数证明了系统是渐近稳定的。最后仿真结果表明该方法能够提高机械臂加工目标定位精度,实现机械臂与加工目标柔性接触,保证了加工目标和末端工具不受到损坏。
[Abstract]:In order to overcome the unfavorable factors such as the nonlinearity, strong coupling and the contact force between the manipulators and the machining targets, which are difficult to measure accurately in the research of target positioning and control of industrial robot manipulators, Improve the accuracy of machining target positioning and avoid damage to machining target and end tool due to high contact force. To solve the above problems, a generalized momentum observer is proposed to estimate the contact force between the manipulator and the target, and the impedance sliding mode control method is used to improve the accuracy of target location. First, the Cartesian spatial dynamics model of the manipulator is established; secondly, the contact force between the manipulator and the target can be obtained, and the manipulator can track the position of the target accurately, and then the system is proved to be asymptotically stable according to the Lyapunov function. Finally, the simulation results show that the method can improve the precision of machining target location, realize the flexible contact between the manipulator and the machining object, and ensure that the machining object and the end tool are not damaged.
【作者单位】：西南科技大学信息工程学院;中国科学技术大学信息科学技术学院;
【基金】：四川省科技支撑计划项目(2015FZ0091)
【分类号】：TP242.2

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