工業(yè)機(jī)械臂自適應(yīng)模糊阻抗控制算法研究

摘" 要：針對工業(yè)機(jī)械臂末端執(zhí)行器對未知環(huán)境柔順性差的問題，該文以最典型的六自由度工業(yè)機(jī)械臂為研究對象，分析阻抗參數(shù)對工業(yè)機(jī)械臂末端接觸力的影響，提出基于模糊控制器的自變阻抗參數(shù)控制算法。根據(jù)拉格朗日方程和MATLAB/SIMULINK軟件平臺搭建六自由度工業(yè)機(jī)械臂的仿真動力學(xué)模型，并設(shè)計模糊控制器的控制規(guī)則得到各個阻抗參數(shù)的補(bǔ)償量，使得末端執(zhí)行器隨著環(huán)境的變化而得到不同的阻抗參數(shù)。仿真結(jié)果表明，該算法能有效地控制機(jī)械臂末端與環(huán)境的接觸力，提高機(jī)械臂的柔順性。

關(guān)鍵詞：阻抗控制；模糊控制；機(jī)械臂；自適應(yīng)控制；參數(shù)補(bǔ)償

中圖分類號：TP241.2" " " 文獻(xiàn)標(biāo)志碼：A" " " " " 文章編號：2095-2945（2023）28-00６３-0４

Abstract： Aiming at the problem that the end-effector of industrial manipulator has poor compliance to unknown environment， this paper takes the most typical six-degree-of-freedom industrial manipulator as the research object. Firstly， the influence of impedance parameters on the contact force at the end of industrial manipulator was analyzed， and a fuzzy controller based control algorithm of self-variable impedance parameters was proposed. Then， according to the Lagrange equation and MATLAB/SIMULINK software platform， the simulation dynamics model of the 6-DOF （Six Degrees of Freedom） industrial manipulator was built， and the control rules of the fuzzy controller were designed to obtain the compensation of each impedance parameter， so that the end effector could get different impedance parameters with the change of the environment. Finally， the simulation results showed that the proposed algorithm could effectively control the contact force between the end of the manipulator and the environment， and improve the flexibility of the manipulator.

Keywords： impedance control; fuzzy control; manipulator; adaptive control; parameter compensation

工業(yè)機(jī)械臂已經(jīng)廣泛應(yīng)用到生活和生產(chǎn)的方方面面，當(dāng)機(jī)械臂末端與外界環(huán)境不接觸時，如噴涂、焊接等作業(yè)只需要考慮末端執(zhí)行器的位姿控制。而在沖壓、拋光、裝配等作業(yè)中，工業(yè)機(jī)械臂要想實現(xiàn)準(zhǔn)確控制，除了要考慮位置控制之外，還需要考慮工業(yè)機(jī)械臂末端力的控制，打破環(huán)境對機(jī)械臂的約束，避免過大的沖擊，實現(xiàn)工業(yè)機(jī)械臂的主動柔順控制[1-2]。

阻抗控制，即通過平衡工業(yè)機(jī)械臂末端執(zhí)行器位姿的偏差以及末端執(zhí)行器和外界環(huán)境力的動態(tài)關(guān)系，從而達(dá)到主動柔順控制的目的[3]。在以往阻抗控制系統(tǒng)中，控制器的阻抗參數(shù)是固定不變的，不會隨著環(huán)境的變化而變化，導(dǎo)致工業(yè)機(jī)械臂在力位混合控制中存在較大的超調(diào)。

丁一……