控制理论(社会学)
阻抗控制
超调(微波通信)
控制器(灌溉)
职位(财务)
电阻抗
机械阻抗
接触力
自适应控制
子空间拓扑
工程类
计算机科学
控制(管理)
人工智能
物理
电气工程
经济
农学
生物
量子力学
财务
作者
Zhixu Zhu,Hualiang Zhang,Guanghui Liu,Dongyang Zhang
出处
期刊:Industrial Robot-an International Journal
[Emerald (MCB UP)]
日期:2024-07-16
卷期号:51 (5): 747-760
标识
DOI:10.1108/ir-10-2023-0237
摘要
Purpose This paper aims to propose a hybrid force/position controller based on the adaptive variable impedance. Design/methodology/approach First, the working space is divided into a force control subspace and a position subspace, the force control subspace adopts the position impedance control strategy. At the same time, the contact force model between the robot and the surface is analyzed in this space. Second, based on the traditional position impedance, the model reference adaptive control is introduced to provide an accurate reference position for the impedance controller. Then, the BP neural network is used to adjust the impedance parameters online. Findings The experimental results show that compared with the traditional PI control method, the proposed method has a higher flexibility, the dynamic response accommodation time is reduced by 7.688 s and the steady-state error is reduced by 30.531%. The overshoot of the contact force between the end of robot and the workpiece is reduced by 34.325% comparing with the fixed impedance control method. Practical implications The proposed control method compares with a hybrid force/position based on PI control method and a position fixed impedance control method by simulation and experiment. Originality/value The adaptive variable impedance control method improves accuracy of force tracking and solves the problem of the large surfaces with robot grinding often over-polished at the protrusion and under-polished at the concave.
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