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针对机器人分钢过程中末端与环境接触瞬间冲击振荡和力的不稳定性问题,提出了一种基于鲁棒自适应的位置阻抗控制方法。该方法通过内环的PD自适应控制器来跟踪期望轨迹,通过外环的阻抗控制器实现机器人末端与环境之间接触力的稳定性控制,实现了机器人由自由空间到约束空间快速、平稳的过渡和力的稳定性控制。在ADAMS与MATLAB/Simulink中搭建了联合仿真平台,对比分析了控制前后接触力的变化,联合仿真结果表明控制方法的有效性。
Aiming at the instability of the impact vibration and force at the instant of end-to-environment contact with the robot during the process of steel separation, a robust adaptive impedance control method is proposed. The method tracks the desired trajectory through the inner loop PD adaptive controller and controls the stability of the contact force between the robot end and the environment through the impedance controller of the outer loop. It realizes the fast and smooth robot’s free space to confined space Transition and force stability control. A joint simulation platform was set up in ADAMS and MATLAB / Simulink, the change of contact force before and after control was analyzed and compared. The results of the joint simulation show the effectiveness of the control method.