引用本文:甘亚辉,段晋军,戴先中.非结构环境下的机器人自适应变阻抗力跟踪控制方法[J].控制与决策,2019,34(10):2134-2142
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非结构环境下的机器人自适应变阻抗力跟踪控制方法
甘亚辉,段晋军, 戴先中
(东南大学自动化学院,南京210096)
摘要:
针对力跟踪时环境刚度不确定及环境位置动态变化的未知性,提出一种非结构环境下基于自适应变阻抗的力跟踪控制策略.首先,通过建立机器人与环境的接触力模型,分析理想情况下对环境刚度和环境位置的要求;然后,建立新的阻抗模型来适应环境刚度不确定的情况,并根据接触力的变化对阻抗模型参数进行在线自适应调节,用于实时地补偿对环境动态变化的未知性,并对自适应变阻抗的稳定性进行证明;最后,对经典的定阻抗与所提出的自适应变阻抗进行非结构环境下的仿真和物理实验的对比,实验结果表明该策略相比于定阻抗控制能够达到更好的力跟踪效果.
关键词:  非结构环境  自适应  变阻抗模型  力跟踪  定阻抗
DOI:10.13195/j.kzyjc.2018.0238
分类号:TP273
基金项目:国家自然科学基金项目(61503076,61175113);江苏省自然科学基金项目(BK20150624);复杂工程系统测量与控制教育部重点实验室开放课题(MCCSE2014B02).
Adaptive variable impedance control for robot force tracking in unstructured environment
GAN Ya-hui,DUAN Jin-jun,DAI Xian-zhong\makebox
(School of Automation,Southeast University,Nanjing210096,China)
Abstract:
An adaptive variable impedance control for force tracking is proposed, which has the capability to track a specified desired force and to compensate for uncertainties in environment location and stiffness. Firstly, by establishing the interaction model between robots and environment, the requirement of environment stiffness and location are analyzed. Then, a new impedance model is developed to adapt any uncertainly environment stiffness. According to the change of contact force, the impedance parameters can be adaptively adjusted on-line to compensate the unknown dynamic environment. And the stability of the adaptive variable impedance control is proven. Finally, the classical constant impedance and the adaptive variable impedance proposed are compared in the unstructured environment. The experimental results show that the proposed scheme can achieve better force tracking performance than the constant impedance control.
Key words:  unstructured environment  adaptive control  variable impedance model  force tracking  constant impedance control

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