面向打磨机械臂的模糊自适应阻抗控制算法

为解决打磨机械臂在加工过程中轨迹移动和末端接触力的控制问题,讨论了一种自适应阻抗算法,能够实现力和位置的柔顺控制,并保证系统的运动稳定。同时引入模糊控制理论,对阻抗参数进行实时调整。以简化模型二自由度机械臂为例进行仿真实验。仿真结果表明,模糊自适应阻抗算法能够较为准确地控制机械臂末端的接触力,降低系统的超调,改善实时性,可以提高打磨机械臂的工作效率,在一定程度上满足打磨的精度要求。

Fuzzy adaptive impedance control algorithm for control of grinding manipulator

In order to solve the problem of the control of trajectory movement and end contact force in the process of grinding manipulator,an adaptive impedance algorithm is discussed.This method enables flexible control of force and position,and ensures the stability of the manipulator system.The fuzzy control theory is introduced to adjust the impedance parameters in real time.Taking the simplified model two-degree-of-freedom manipulator as an example,the algorithm is verified by simulation.The simulation results show that the fuzzy adaptive impedance algorithm can accurately control the contact force at the end of the manipulator,reduce the overshoot of the system and improve the real-time performance.The results show that the fuzzy adaptive impedance control algorithm can improve the working efficiency of the grinding manipulator and meet the precision requirements of grinding to some extent.