SIA OpenIR  > 工业控制网络与系统研究室
Alternative TitleResearch on Constant Force Tracking Control Algorithm for Grinding Robot on Unknown Continuous Surface
Thesis Advisor邹涛
Keyword机械臂 柔顺力控制 模型预测控制 遗传算法 阻抗控制
Call NumberTP242/L76/2018
Degree Discipline机械电子工程
Degree Name硕士
Degree Grantor中国科学院沈阳自动化研究所
Place of Conferral沈阳


Other Abstract

In this paper, the problem of constant force tracking in the grinding process of unknown continuous surfaces is studied. The main research contents and results are as follows. 1.Aiming at the problem of manipulator tracking the constant force of unknown continuous surface, a method of surface constant force tracking based on model predictive control algorithm and surface prediction equation is proposed. Firstly, the discrete and linear dynamic model of the environment constrained manipulator is given; the force acting modes of the manipulator arm and the environment are analyzed; the surface prediction equation is designed, which combines the track position information and force information that have already passed to the future. The position of the curved surface is estimated; a constrained manipulator trajectory tracking force source control method based on the model predictive control algorithm is designed; and then the manipulator arm is used to track the estimated surface position according to the method. Finally, in the simulation, the control manipulator tracks the unknown continuous surface, which proves the realtime effectiveness of the proposed algorithm's force control on unknown continuous surfaces. Under the premise of ensuring the control accuracy, it effectively suppresses the overshoot problem and improves the robustness of the system. 2. Inspired by the working principle of the elastic actuator (SEA), an active elastic force control mechanism was designed in series to the end of the arm. Firstly, the three dimensional structure diagram and the solid diagram of the designed terminal are given. Then the control model of the force source of the mechanism and the influence of different stiffness springs on the control results are analyzed. Finally, the simulation and experiment are compared with the traditional passive compliance control to prove Compared with the traditional passive compliance control method, this mechanism improves the constant force tracking accuracy of the manipulator arm contact force, and reduces the manipulator's position control precision requirements for the manipulator's compliance force control. 3.For the problem of constant force tracking when the manipulator is in contact with the environment, an impedance control method based on position control and a genetic algorithm are proposed, and an impedance control method based on a real- time optimization genetic algorithm is proposed. In the research process, the influence of the three impedance parameters in the impedance control on the end contact force of the manipulator arm is compared first; then, according to the performance index of improving the response speed and the control accuracy of the manipulator constant force tracking, the genetic algorithm used for offline optimization is improved. The crossover, variation, and calculation of fitness values, etc., are handled by the operator and realize the real time optimization of the three parameters in the impedance control method. Finally, simulations are performed using simulink and S-functions. The results show that compared with the traditional control method, this method can improve the speed of the contact force between the robot arm and the environment to converge to the desired contact force under the condition of ensuring the control accuracy, and has little or no overshoot.

Contribution Rank1
Document Type学位论文
Recommended Citation
GB/T 7714
刘哲. 针对未知连续曲面磨削机器人恒力跟踪控制算法研究[D]. 沈阳. 中国科学院沈阳自动化研究所,2018.
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针对未知连续曲面磨削机器人恒力跟踪控制算(12877KB)学位论文 开放获取CC BY-NC-SAApplication Full Text
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