【作者】 王立玲；

【导师】 王洪瑞；

【作者基本信息】 河北大学 ， 检测技术与自动化装置， 2005， 硕士

【摘要】 随着机器人技术的迅速发展,国际上对机器人的控制问题已经进行了大量研究,虽然力控制在机器人诞生初期就已经被研究者和工程师注意到它的重要性,并开始大量研究,但是到目前为止力控制在实际中成功应用仍然非常少。然而,在将来为了扩大机器人应用领域和增加机器人在工作环境中灵活性,力控制注定被需要。机器人力控制主要有两种方法,一种是阻抗控制,另一种是混合控制。本文针对此两种方法在实际应用中存在的问题做了深入研究,并提出相应的解决方案。在阻抗控制中,使用增益调度模糊自调整方案,在线调整控制器参数,以适应外界环境的作用力的变化,使整个系统表现出很强的鲁棒性和良好的动态性能,另外,此系统考虑执行器实际提供扭矩有限制特性,在设计模糊控制器时,使输出在一定幅值之内,从而避免了扭矩饱和,同时保证系统有界稳定;在混合控制中提出基于模糊逻辑模型辨识动态直接驱动机器人不确定参数,这样就可以基于此辨识模型采用计算力矩方法使机器人跟踪期望的力和位置轨迹。具体地,在位置环使用PD 控制,在力环使用PI 控制,实现受约束机器人动态力/位置动态混合控制。这样使得系统实际应用价值很大,并容易证明系统是渐近稳定的。更多还原

【Abstract】 With the rapid development of robotics, many efforts have been devoted to the control of robotics. Although force control has been drown attention of researchers and engineers since the early days of robot development, successful practical applications of force control are still very few. In the future, however, the force control will be definitely needed in order to widen the applications area and increase dexterity of robotic mechanism in industrial environment. There are two major approaches for robot force control: first, impedance control, and second, hybrid control. The research of practical problem based on two approaches was deeply made in this dissertation. In impedance control, the potential of a gain scheduling fuzzy self-tuning scheme was used, which was on–line tuning controller parameter in order to adapt the change end effector force. This system have strong robust and good dynamic. In addition, concerning the robot actuators, which can only deliver torques within prescribed limits, the output of fuzzy controller was limited to avoid torque saturation. The overall closed-loop system is limitary stable; In hybrid control, a fuzzy identification method is proposed to estimate parameter in dynamic of direct drive robot. Once parameters in dynamic are estimated, computed-torque method can be applied to make the robot follow a desired position and force trajectory. PD is used in position loop and PI is used in force loop. Dynamic control is easy realized and system can be proved uniformly asymptotically stable. This system shows practical characteristics.更多还原