【摘要】 针对电梯导轨校准机器人校准电梯导轨时，校准精度低和校准力不可控等问题，提出一种基于改进的粒子群-模糊PD(PsoFuzzyPD)的电梯导轨校准机器人力位控制方法。首先，根据力位控制需求设计了电梯导轨校准机器人的整体控制框架；其次，设计了基于改进的粒子群-模糊PD控制器作为机器人力位控制器的内环控制器；最后，根据机器人的力控制需求设计了阻抗控制器、sigmoid函数的阻抗控制判别模块和期望力控制模块。仿真结果表明，所提方法的力控响应超调更小，震荡更少，笛卡尔空间的轨迹跟踪偏差也更小，可以有效控制导轨校准力和导轨校准精度，在电梯导轨安装领域拥有很好的推广应用价值。更多还原

【Abstract】 Aiming at the problems of low calibration accuracy and uncontrollable calibration force when the elevator guide rail calibration robot calibrates the elevator guide rail, a force position control method for the elevator guide rail calibration robot based on improved particle swarm optimization fuzzy PD(PsoFuzzyPD) is proposed.Firstly, the overall control framework of the elevator guide rail calibration robot is designed ac-cording to the force and position control requirements.Secondly, an improved particle swarm optimization fuzzy PD controller is designed as the inner loop controller of the robot force position controller.Finally, according to the force control requirements of the robot, the impedance controller, the impedance control discrimination module of sigmoid function and the expected force control module are designed.The simulation results show that the method proposed has smaller force control response overshoot, less vibration, and smaller trajectory tracking deviation in Cartesian space.It can effectively control the guide rail calibration force and guide rail calibration accuracy, and has good popularization and application value in the field of elevator guide rail installation.更多还原