三平动力控末端执行器鲁棒自适应力跟踪导纳控制方法

doi:10.3901/JME.2023.01.071

机械工程学报 ›› 2023, Vol. 59 ›› Issue (1): 71-81.doi: 10.3901/JME.2023.01.071

扫码分享

三平动力控末端执行器鲁棒自适应力跟踪导纳控制方法

张国龙^1,2,3, 杨桂林², 邓益民³, 王慰军², 方灶军², 陈庆盈², 朱任峰², 杨凯盛³

1. 宁波大学科学技术学院宁波 315211;
2. 中国科学院宁波材料技术与工程研究所浙江省机器人与智能制造装备技术重点实验室宁波 315201;
3. 宁波大学机械工程与力学学院宁波 315211

收稿日期:2022-02-09 修回日期:2022-06-21 出版日期:2023-01-05 发布日期:2023-03-30
通讯作者: 杨桂林(通信作者),男,1965年出生,博士,高级研究员,博士研究生导师。主要研究方向为精密运动系统、先进机器人及智能制造装备技术。E-mail:glyang@nimte.ac.cn;邓益民(通信作者),男,1966年出生,博士,教授,博士研究生导师。主要研究方向为设计理论与方法。E-mail:dengyimin@nbu.edu.cn
作者简介:张国龙,男,1988年出生,博士研究生。主要研究方向为机器人建模与控制。E-mail:zhangguolong@nbu.edu.cn
基金资助:
国家重点研发计划“智能机器人”重点专项资助项目（2018YFB1308900）、浙江省教育厅科研项目资助（Y202043544）、NSFC-深圳两化融合联合基金（U1813223）和宁波市科技创新2025重大专项（2018B10058）资助项目。

Robust Adaptive Force Tracking Admittance Control for 3-DOF Translational Force-controlled End-effector

ZHANG Guolong^1,2,3, YANG Guilin², DENG Yimin³, WANG Weijun², FANG Zaojun², CHEN Chin-Yin², ZHU Renfeng², YANG Kaisheng³

1. College of Science & Technology, Ningbo University, Ningbo 315211;
2. Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology of Zhejiang Province, Ningbo Institute of Materials Technology & Engineering, Chinese Academy of Sciences, Ningbo 315201;
3. Faculty of Mechanical Engineering & Mechanics, Ningbo University, Ningbo 315211

Received:2022-02-09 Revised:2022-06-21 Online:2023-01-05 Published:2023-03-30

摘要/Abstract

摘要： 针对现有重载工业机器人缺乏力控功能而难以满足去毛刺、倒角和磨抛等连续接触式作业要求的问题，提出一种含氮气弹簧的气电直驱式3-P （UU）₂型三平动力控末端执行器，采用鲁棒自适应力跟踪导纳控制算法实现操作空间中接触面法向输出力的快速跟踪，适用于工件内外侧面、孔洞和狭小结构的机器人磨抛等过程。建立机构正逆运动学与气电直驱致动器动力学模型，并设计了鲁棒自适应力跟踪导纳控制器。实验结果表明，基于鲁棒自适应力跟踪导纳控制的三平动力控末端执行器力阶跃响应的稳态误差为-4.5×10^-4 N，上升时间19.27 ms，可实现力的快速精确跟踪；负载冲击下力的调整时间116.0 ms，最大超调量57.5%，具有良好的缓冲吸振特性与鲁棒性；在平面往复运动与圆柱面连续运动工况下，力均方根误差0.143 N，冲击峰值均值0.694 N，对不同材质工具磨头的接触刚度变化与环境位移误差的适应性好，可提升工业机器人的连续接触式作业质量并拓宽其应用范围。

关键词: 力跟踪, 末端执行器, 气电直驱, 自适应控制, 混合导纳控制

Abstract: The existing heavy-duty industrial robots are short of force control functionality, which makes them difficult to perform contact-operations such as deburring, chamfering, and polishing. A 3-DOF translational force-controlled end-effector featured with 3-P(UU)₂ parallel mechanism and gas springs inside is introduced, and the robust adaptive force tracking admittance control method is proposed to regulate the contact force in the operational space. It can be applied to the robotic grinding and polishing process of the lateral surfaces, holes and narrow structures of workpieces. Based on the modeling of the forward and inverse kinematics of the parallel mechanism, and the dynamics of the pneumoelectric actuator, the robust adaptive force tracking admittance controller is designed. Experimental results show that the 3-DOF translational force-controlled end-effector based on robust adaptive admittance control tracks force fast and precisely, with the steady-state force error ‒4.5×10^‒4 N and the rise time 19.27 ms. The settling time 116.0 ms and overshoot 57.5% demonstrates good impact resistance and vibration absorption characteristics. Furthermore, the standard deviation and average peak of the contact force during the movement in a plane and cylindrical surface are 0.143 N and 0.694 N, respectively, indicating the adaptability to the environmental displacement error and stiffness variation under grinding tools made of different materials. The add-on force-controlled end-effector presented can improve the quality of the advanced robotic contact operations and expand the applications of the industrial robots.

Key words: force tracking, end-effector, pneumoelectric actuation, adaptive control, hybrid admittance control

中图分类号:

TP24

张国龙, 杨桂林, 邓益民, 王慰军, 方灶军, 陈庆盈, 朱任峰, 杨凯盛. 三平动力控末端执行器鲁棒自适应力跟踪导纳控制方法[J]. 机械工程学报, 2023, 59(1): 71-81.

ZHANG Guolong, YANG Guilin, DENG Yimin, WANG Weijun, FANG Zaojun, CHEN Chin-Yin, ZHU Renfeng, YANG Kaisheng. Robust Adaptive Force Tracking Admittance Control for 3-DOF Translational Force-controlled End-effector[J]. Journal of Mechanical Engineering, 2023, 59(1): 71-81.

参考文献

[1] 李文龙, 谢核, 尹周平, 等. 机器人加工几何误差建模研究:I空间运动链与误差传递[J]. 机械工程学报, 2021, 57(7):154-168. LI Wenlong, XIE He, YIN Zhouping, et al. The research of geometric error modeling of robotic machining:I spatial motion chain and error transmission[J]. Journal of Mechanical Engineering, 2021, 57(7):154-168.
[2] 陶波, 赵兴炜, 丁汉. 大型复杂构件机器人移动加工技术研究[J]. 中国科学:技术科学, 2018, 48(12):1302-1312. TAO Bo, ZHAO Xingwei, DING Han. Study on robotic mobile machining techniques for large complex components[J]. Scientia Sinica Technologica, 2018, 48(12):1302-1312.
[3] ZHU Dahu, FENG Xiaozhi, XU Xiaohu, et al. Robotic grinding of complex components:A step towards efficient and intelligent machining-challenges, solutions and applications[J]. Robotics and Computer-Integrated Manufacturing, 2020, 65:1-15.
[4] ZHANG Junfeng, SHI Yaoyao, LIN Xiaojun, et al. Parameter optimization of five-axis polishing using abrasive belt flap wheel for blisk blade[J]. Journal of Mechanical Science and Technology, 2017, 31(10):4805-4812.
[5] 杨桂林. 工业机器人运用技术[J]. 中国科学院院刊, 2015, 30(6):785-792. YANG Guilin. Applied industrial robotics[J]. Bulletin of the Chinese Academy of Sciences, 2015, 30(6):785-792.
[6] LIU C H, CHEN C C, HUANG J, et al. The polishing of molds and dies using a compliance tool holder mechanism[J]. Journal of Materials Processing Technology, 2005, 166:230-236.
[7] 黄婷, 孙立宁, 王振华, 等. 基于被动柔顺的机器人抛磨力/位混合控制方法[J]. 机器人, 2017, 39(6):776-785. HUANG Ting, SUN Lining, WANG Zhenhua, et al. Hybrid force/position method for robotic polishing based on passive compliance structure[J]. Robot, 2017, 39(6):776-785.
[8] WANG Qilong, WANG Wei, ZHENG Lianyu, et al. Force control-based vibration suppression in robotic grinding of large thin-wall shells[J]. Robotics and Computer-Integrated Manufacturing, 2021, 67:1-12.
[9] LIAO Liang, XI Fengfeng, LIU Kefu. Modeling and control of automated polishing/deburring process using a dual-purpose compliant toolhead[J]. International Journal of Machine Tools & Manufacture, 2008, 48:1454-1463.
[10] 段继豪, 史耀耀, 李小彪, 等. 整体叶盘柔性磨头自适应抛光实现方法[J]. 航空学报, 2021, 32(5):934-940. DUAN Jihao, SHI Yaoyao, LI Xiaobiao, et al. Adaptive polishing for blisk by flexible grinding head[J]. Acta Aeronautica et Astronautica Sinica, 2021, 32(5):934-940.
[11] MOHAMMAD A E K, HONG J, WANG D. Design of a force-controlled end-effector with low-inertia effect for robotic polishing using macro-mini robot approach[J]. Robotics and Computer-Integrated Manufacturing, 2018, 49:54-65.
[12] LI Jian, GUAN Yisheng, CHEN Haowen, et al. A high-bandwidth end-effector with active force control for robotic polishing[J]. IEEE Access, 2020, 8:122-135.
[13] CHEN Fan, ZHAO Huan, LI Dingwei, et al. Robotic grinding of a blisk with two degrees of freedom contact force control[J]. International Journal of Advanced Manufacturing Technology, 2019, 101:461-474.
[14] CHEN Fan, ZHAO Huan, LI Dingwei, et al. Contact force control and vibration suppression in robotic polishing with a smart end effector[J]. Robotics and Computer-Integrated Manufacturing, 2019, 57:391-403.
[15] LOPES A, ALMEIDA F. A force-impedance controlled industrial robot using an active robotic auxiliary device[J]. Robotics & Computer-Integrated Manufacturing, 2008, 24:299-309.
[16] YANG Guilin, ZHU Renfeng, FANG Zaojun, et al. Kinematic design of a 2R1T robotic end-effector with flexure joint[J]. IEEE Access, 2020, 8:204-213.
[17] RAMPELTSHAMMER W F, KEEMINK A Q L, HERMAN V D K. An improved force controller with low and passive apparent impedance for series elastic actuators[J]. IEEE/ASME Transactions on Mechatronics, 2020, 25(3):1220-1230.
[18] GRACIA L, SOLANES J E, PAU M, et al. Adaptive sliding mode control for robotic surface treatment using force feedback[J]. Mechatronics, 2018, 52:102-118.
[19] 刑宏军, 丁亮, 高海波, 等. 基于阻抗控制的机器人旋拧阀门轴向位置自适应跟踪[J]. 机械工程学报, 2019, 55(15):124-134. XING Hongjun, DING Liang, GAO Haibo, et al. Adaptive tracking of axial position for valve-turning with a robot based on impedance control[J]. Journal of Mechanical Engineering, 2019, 55(15):124-134.
[20] DUAN Jinjun, GAN Yahui, CHEN Ming, et al. Adaptive variable impedance control for dynamic contact force tracking in uncertain environment[J]. Robotics and Autonomous Systems, 2018, 102:54-65.
[21] 张国龙, 杨桂林, 邓益民, 等. 磨抛机器人气电力控末端执行器负载特性[J]. 船舶工程, 2020, 42(6):15-21. ZHANG Guolong, YANG Guilin, DENG Yimin, et al. Load characteristics of pneumoelectric end-effector with force control for grinding and polishing robot[J]. Ship Engineering, 2020, 42(6):15-21.
[22] SURDILOVIC D. Contact stability issues in position based impedance control:theory and experiments[C]//Institute of Electrical and Electronics Engineers. Proceedings of the IEEE International Conference on Robotics and Automation, April 22-28, 1996, Minneapolis, Minnesota, USA. Piscataway:IEEE, 1996:1675-1680.

三平动力控末端执行器鲁棒自适应力跟踪导纳控制方法

Robust Adaptive Force Tracking Admittance Control for 3-DOF Translational Force-controlled End-effector

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	赵亮亮, 刘子毅, 赵京东, 段启帆, 王梓睿, 刘宏. 面向在轨建造的空间机器人末端执行器及适配接口设计与验证[J]. 机械工程学报, 2024, 60(3): 1-10.
[2]	于振, 刘海林, 裘祖荣, 安琪. 基于IGCF-IBSCF算法和BCF-IBPSO-NESN算法的工业机器人末端执行器位姿重复性检测[J]. 机械工程学报, 2024, 60(19): 71-87.
[3]	牛善帅, 王军政, 赵江波, 沈伟. 泵控电液伺服系统基于未知死区补偿的自适应鲁棒控制[J]. 机械工程学报, 2024, 60(18): 327-337.
[4]	张伟, 刘辉, 刘金刚, 严鹏飞, 傅兵. 机电复合传动主谐次扰动相位自适应补偿方法[J]. 机械工程学报, 2024, 60(13): 354-365.
[5]	文旋豪, 曹华军, 李洪丞, 葛威威, 黄子轩. 离散制造单元生产扰动识别模型及其自适应节能控制方法[J]. 机械工程学报, 2023, 59(7): 252-264.
[6]	陈彦杰, 于健业, 张振国, 钟杭, 张辉, 王耀南. 飞行作业机器人动态抓取的非奇异终端滑模自适应控制[J]. 机械工程学报, 2023, 59(23): 76-86.
[7]	张延安, 杜岳峰, 毛恩荣, 宋正河, 陈度, 朱忠祥. 基于数字孪生的大马力拖拉机湿式离合器压力控制方法研究[J]. 机械工程学报, 2023, 59(13): 268-279.
[8]	刘永刚, 张静晨, 王鑫, 张学勇, 吕豪, 秦大同. 摩擦因数自适应的双离合器自动变速器起步智能控制[J]. 机械工程学报, 2023, 59(10): 197-209.
[9]	李振, 赵欢, 王辉, 丁汉. 机器人磨抛加工接触稳态自适应力跟踪研究[J]. 机械工程学报, 2022, 58(9): 200-209.
[10]	向红标, 程旭, 李梦伟, 王收军, 张冕, 黄显, 霍文星. 磁弹性微型游泳机器人在外部干扰和复杂路径下的精确跟踪控制[J]. 机械工程学报, 2022, 58(7): 93-102.
[11]	魏凌涛, 王翔宇, 邱彬, 李亮, 周道林, 林进贵. 基于自适应预瞄路径的自动驾驶车辆寻迹和避障控制[J]. 机械工程学报, 2022, 58(6): 184-193.
[12]	张济民, 宗振海, 周和超, 寇杰. 独立旋转轮对轨道车辆自适应导向控制研究[J]. 机械工程学报, 2022, 58(4): 232-239.
[13]	华长春, 陈佳强, 陈健楠, 陈树宗. 未知扰动下冷轧机扭振自适应预定性能控制[J]. 机械工程学报, 2021, 57(4): 202-209.
[14]	蓝益鹏, 姚婉婷, 杨文康, 雷城. 数控机床直线同步电动机磁悬浮系统的神经网络直接自适应控制[J]. 机械工程学报, 2021, 57(17): 236-242.
[15]	柳晨光, 初秀民, 毛庆洲, 谢朔. 无人船自适应路径跟踪控制系统[J]. 机械工程学报, 2020, 56(8): 216-227.