动态环境下磨抛机器人PD-模糊自适应力跟踪阻抗控制

doi:10.16731/j.cnki.1671-3133.2025.04.007

现代制造工程 ›› 2025, Vol. 535 ›› Issue (4): 61-68.doi: 10.16731/j.cnki.1671-3133.2025.04.007

动态环境下磨抛机器人PD-模糊自适应力跟踪阻抗控制

蒲秋爽, 刘桂萍

湖南大学机械与运载工程学院,长沙 410082

收稿日期:2024-05-28 出版日期:2025-04-18 发布日期:2025-05-08
通讯作者: 刘桂萍,博士,副教授,主要研究方向为机械工程。E-mail:liuguiping@hnu.edu.cn
作者简介:蒲秋爽,硕士研究生,主要研究方向为机器人复杂曲面柔顺抛光。

PD-fuzzy adaptive force tracking impedance control for grinding and polishing robots in dynamic environments

PU Qiushuang, LIU Guiping

College of Mechanical and Vehicle Engineering,Hunan University,Changsha 410082,China

Received:2024-05-28 Online:2025-04-18 Published:2025-05-08

摘要/Abstract

摘要： 针对磨抛机器人在动态环境下对期望接触力难以精确跟踪和控制的问题,基于自适应阻抗控制模型,研究了一种PD-模糊自适应力跟踪阻抗控制方法。使用模糊控制对自适应阻抗控制中的更新率进行动态调整,并在阻抗控制前增加PD控制来调节系统的调整时间,以实现动态环境下对期望接触力的准确跟踪和控制,保证磨抛加工质量。通过设置6种环境参数变化的仿真,将所研究的PD-模糊自适应阻抗控制器与传统阻抗控制器、自适应阻抗控制器和模糊自适应阻抗控制器进行对比,结果表明所研究的PD-模糊自适应阻抗控制器可在保持碰撞接触阶段较短的调整时间和较小的超调量的同时,保持平稳接触阶段较小的稳态误差,与其他3种控制器相比,可更好地实现接触力跟踪。

关键词: 阻抗控制, 机器人, 自适应, 模糊控制, PD控制, 力跟踪

Abstract: Aiming at the problem that it is difficult to accurately track and control the desired contact force in the dynamic environment of the grinding and polishing robot,a PD-fuzzy adaptive force tracking impedance control method was studied based on the adaptive impedance control model. Fuzzy control was used to dynamically adjust the update rate in the adaptive impedance control,and the time was adjusted by increasing PD control before the impedance control,in order to realise the accurate tracking and control of the desired contact force under the dynamic environment,and to ensure the quality of grinding and polishing processing. By setting up simulation with six environmental parameter variations,the investigated PD-fuzzy adaptive impedance controller was compared with the traditional impedance controller,adaptive impedance controller and fuzzy adaptive impedance controller,and the results show that the investigated PD-fuzzy adaptive impedance controller can maintain a shorter adjustment time and smaller overshooting in the collision contact phase while keeping a smaller steady-state error in the smooth contact phase,and it can achieve better contact force tracking compared to the other three kinds of controllers.

Key words: impedance control, robot, adaptive, fuzzy control, PD control, force tracking

中图分类号:

TP242

蒲秋爽, 刘桂萍. 动态环境下磨抛机器人PD-模糊自适应力跟踪阻抗控制[J]. 现代制造工程, 2025, 535(4): 61-68.

PU Qiushuang, LIU Guiping. PD-fuzzy adaptive force tracking impedance control for grinding and polishing robots in dynamic environments[J]. Modern Manufacturing Engineering, 2025, 535(4): 61-68.

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动态环境下磨抛机器人PD-模糊自适应力跟踪阻抗控制

PD-fuzzy adaptive force tracking impedance control for grinding and polishing robots in dynamic environments

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