非结构环境下的机器人自适应变阻抗力跟踪控制方法.PDFVIP

第xx卷 第x期 控 制 与 决 策 Vol.xx No.x xxxx年 x 月 Control and Decision xxx. xxxx DOI: 10.13195/j.kzyjc.2018.0238 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 (1. 东南大学自动化学院, 南京210096 ；2. 复杂工程系统测量与控制教育部重点实验室, 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, 提出了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, 分析了理想情况下对环境刚度和环境位置的要 求；然后建立了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了证明. 最后对经典的定 阻抗与本文所提的自适应变阻抗进行了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 中图分类号: TP273 文献标志码: A Adaptive Variable Impedance Control for Robot Force Tracking in Unstructured Environment GAN Ya-hui, DUAN Jin-jun, DAI Xian-zhong (1. School of Automation, Southeast University, Nanjing 210096, China；2. Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Nanjing 210096, China) Abstract: In this paper, a new 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 robot and environment, the requirements of environment stiffness and location are analyzed. Secondly, 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