关键词: 灰色预测, 机器人控制, 力控制, 模糊增益调整, 显式力控制, 稀疏表示 , 压缩重构, 双稀疏字典模型, 振动信号

Abstract: Based on the framework of position-based explicit force control scheme, the fuzzy grey prediction control is employed to implement an admittance force control. A grey predictor is used to predict the future contract force which will be integrated with the measured current contract force by a fuzzy gain scheduler to form a integrated contact force error used as input variable of a PID or PI force compensator. So the controller can employ the past, present and future contact force information to calculate an appropriate control correction to pre-compensate the contact force error so that the controller can both yield small overshot and fast response simultaneously. Furthermore, according to the present and future contact force status, the controller can adjust the gains of the future and current contract force error to make the controller adaptive to the dynamic contact process between environment and robot. Simulation results are presented to demonstrate the efficacy of the proposed fuzzy grey prediction force controller.

Key words: Explicit force control, Force control, Fuzzy gain scheduling, Grey prediction, Robot control, Compressed reconstruction, Double sparse dictionary model, Sparse representation, Vibration signal