高技术通讯2025，Vol.35Issue(11)：1239-1249,11.DOI:10.3772/j.issn.1002-0470.2025.11.008
基于AGA-ADRC的机械臂末端力/位置控制
Force/position control for manipulator end based on AGA-ADRC
摘要
Abstract
Aiming at the force/position control problem of manipulator end,an improved active disturbance rejection con-trol(ADRC)is proposed.Adaptive genetic algorithm(AGA)is used for optimization.Firstly,the ADRC control-ler is designed based on the impedance model of the industrial robot arm in contact with the part.The nonlinear function in the expanded state observer and nonlinear state error feedback control law of the ADRC controller is im-proved.The improved ADRC controller shows strong anti-interference ability.Secondly,due to the large number of parameters involved in ADRC controller,it is difficult to set the best parameters by empirical method,AGA is pro-posed in this paper to optimize the parameters of ADRC controller.After parameter optimization of the improved AGA-ADRC controller,taking the two-degree-of-freedom robot arm model as an example,compared with traditional ADRC controllers,improved ADRC controllers optimized by particle swarm optimization(PSO),and impedance controllers,simulation experiments are conducted to verify the advantages of AGA-ADRC in the end force/position control of industrial robotic arms.关键词
工业机械臂/力/位置控制/改进型自抗扰控制方法/自适应遗传算法/阻抗控制Key words
industrial robot arm/force/position control/improved active disturbance rejection control/adap-tive genetic algorithm/impedance control引用本文复制引用
FANG Kai,DU Haosen,LIU Fucai..基于AGA-ADRC的机械臂末端力/位置控制[J].高技术通讯,2025,35(11):1239-1249,11.基金项目
载人航天领域预研(2016040301),河北省自然科学基金(F2022203043)和省级重点实验室绩效补助经费(22567612H)资助项目. （2016040301）
