Adaptive Tracking of Axial Position for Valve-turning with a Robot Based on Impedance Control

doi:10.3901/JME.2019.15.124

Abstract

Abstract: Aim at the working requirement for rescue robots in nuclear disaster, and orient to the robust problem of end contact force in valve-turning, research on adaptive tracking of the axial position of valve handle based on impedance control has been carries out, and effective tracking of the axial handle position utilizing adaptive impedance control has been realized. Impedance control can preferably realize the adjustment of the dynamic response of force/position of the contact ends, but it cannot achieve precise position tracking, and has poor robustness to end contact instability. To solve these problems in valve-turning, a novel impedance model, which has better robustness, has been designed, and combining with adaptive control, a position tracking strategy based on the novel impedance model has been devised, which can solve the tracking of valve handle axial position problem satisfactorily. Robotic valve-turning simulation has been done based on the SolidWorks, ADAMS and Matlab/Simulink joint simulation platform, and physical experiment has also been executed using the established valve-turning platform. The results show that this adaptive method can relatively precisely realize the tracking of valve handle axial position, and at the same time, the robustness of the operating system to end contact instability has been improved.

Key words: adaptive control, impedance control, joint simulation, position tracking, valve-turning

CLC Number:

TP24

XING Hongjun, DING Liang, GAO Haibo, XIA Kerui, LIU Zhen, TAO Jianguo, DENG Zongquan. 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.

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