现代制造工程Issue(4)：61-68,76,9.DOI:10.16731/j.cnki.1671-3133.2025.04.007
动态环境下磨抛机器人PD-模糊自适应力跟踪阻抗控制
PD-fuzzy adaptive force tracking impedance control for grinding and polishing robots in dynamic environments
蒲秋爽 1刘桂萍1
作者信息
- 1. 湖南大学机械与运载工程学院,长沙 410082
- 折叠
摘要
Abstract
Aiming at the problem that it is difficult to accurately track and control the desired contact force in the dynamic envi-ronment of the grinding and polishing robot,a PD-fuzzy adaptive force tracking impedance control method was studied based on the adaptive impedance control model.Fuzzy control was used to dynamically adjust the update rate in the adaptive impedance control,and the time was adjusted by increasing PD control before the impedance control,in order to realise the accurate tracking and control of the desired contact force under the dynamic environment,and to ensure the quality of grinding and polishing pro-cessing.By setting up simulation with six environmental parameter variations,the investigated PD-fuzzy adaptive impedance con-troller was compared with the traditional impedance controller,adaptive impedance controller and fuzzy adaptive impedance con-troller,and the results show that the investigated PD-fuzzy adaptive impedance controller can maintain a shorter adjustment time and smaller overshooting in the collision contact phase while keeping a smaller steady-state error in the smooth contact phase,and it can achieve better contact force tracking compared to the other three kinds of controllers.关键词
阻抗控制/机器人/自适应/模糊控制/PD控制/力跟踪Key words
impedance control/robot/adaptive/fuzzy control/PD control/force tracking分类
计算机与自动化引用本文复制引用
蒲秋爽,刘桂萍..动态环境下磨抛机器人PD-模糊自适应力跟踪阻抗控制[J].现代制造工程,2025,(4):61-68,76,9.
