基于先验速度修正的工业机器人曲面跟踪柔顺控制

doi:10.3901/JME.2022.01.041

机械工程学报 ›› 2022, Vol. 58 ›› Issue (1): 41-51.doi: 10.3901/JME.2022.01.041

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基于先验速度修正的工业机器人曲面跟踪柔顺控制

曾令城¹, 李明富^1,2,3, 杨真真¹, 罗威¹

1. 湘潭大学机械工程学院湘潭 411105;
2. 复杂轨迹加工工艺及装备教育部工程研究中心湘潭 411105;
3. 焊接机器人与应用技术湖南省重点实验室湘潭 411105

收稿日期:2021-03-23 修回日期:2021-08-01 出版日期:2022-01-05 发布日期:2022-03-19
通讯作者: 李明富(通信作者),男,1979年出生,教授,博士研究生导师。主要研究方向为智能机器人、智能制造。E-mail:mingfuli@xtu.edu.cn,limingfu2001@foxmail.com
作者简介:曾令城,男,1996年出生。主要研究方向为机器人控制。E-mail:13365899218@163.com
基金资助:
国家自然科学基金面上项目（51775470）、湖南省自然科学基金省市联合基金（2018JJ4056，2020JJ6016）、长株潭标志性工程计划重大标志性创新示范工程项目（2019XK2303）和湘潭市科技计划项目（ZD-ZD20191007）资助项目。

Compliant Control of Industrial Robot Surface Tracking Based on Priori Velocity Correction

CENG Lingcheng¹, LI Mingfu^1,2,3, YANG Zhenzhen¹, LUO Wei¹

1. School of Mechanical Engineering, Xiangtan University, Xiangtan 411105;
2. Engineering Research Center of Complex Tracks Processing Technology and Equipment of Ministry of Education, Xiangtan 411105;
3. Key Laboratory of Welding Robot and Application Technology of Hunan Province, Xiangtan 411105

Received:2021-03-23 Revised:2021-08-01 Online:2022-01-05 Published:2022-03-19

摘要/Abstract

摘要： 在机器人曲面磨抛过程中，当末端工具与工件曲面相对运动时，控制机器人运动使二者间的接触力保持在某个恒定期望值，对于曲面磨抛的质量控制具有重要的作用，对于进一步展开机器人磨抛工艺研究也具有积极的意义。针对过去力信号难以及时补偿将来轮廓变化而导致法向接触力不平稳的问题，提出一种基于力反馈和先验轮廓倾角的柔顺控制方法。首先基于阻抗控制方程建立机器人曲面跟踪柔顺接触模型，引入法向控制速度，推导出其与力反馈信息间的映射关系。同时，设计在线轨迹生成器，利用先验轮廓倾角计算法向先验速度，并对法向控制速度进行实时修正。最后将所提方法运用至机器人曲面跟踪物理实验，实验结果表明，该方法相比无先验速度修正的柔顺控制，能有效避免凸面/凹面区域下法向接触力震荡，力方差减小55%以上。

关键词: 曲面跟踪, 柔顺控制, 先验轮廓倾角, 法向控制速度

Abstract: With regards to robot grinding and polishing, it is significant to control the contact force between the end tool and the workpiece surface as expected value, especially in the dynamic process of robot surface tracking. Aiming at the problem that the normal contact force is not stable, which is caused by the past force signal is difficult to compensate for the future contour changes, a compliance control method based on force feedback and priori inclination of contour is proposed. Firstly, the robot surface tracking contact model based on the impedance control equation is established to describe the position/force relationship between the end tool and the workpiece surface. Secondly, the mapping relationship between controlling velocity of normal direction and the feedback force is constructed. Thirdly, the priori normal velocity, which is calculated by the priori inclination of contour, is combined with a designed online trajectory generator and applied to correct the controlling velocity of normal direction. The experimental results show that, both of concave and convex surface of the workpiece, the method with priori velocity correction can decrease the vibration of the contact force effectively. Furthermore, compared with the method without priori velocity correction, the force variance of the proposed method is reduced by more than 55%.

Key words: surface tracking, compliant control, priori inclination of contour, controlling velocity of normal direction

中图分类号:

TP242

曾令城, 李明富, 杨真真, 罗威. 基于先验速度修正的工业机器人曲面跟踪柔顺控制[J]. 机械工程学报, 2022, 58(1): 41-51.

CENG Lingcheng, LI Mingfu, YANG Zhenzhen, LUO Wei. Compliant Control of Industrial Robot Surface Tracking Based on Priori Velocity Correction[J]. Journal of Mechanical Engineering, 2022, 58(1): 41-51.

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基于先验速度修正的工业机器人曲面跟踪柔顺控制

Compliant Control of Industrial Robot Surface Tracking Based on Priori Velocity Correction

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