世界有色金属Issue(4)：48-50,3.
基于自适应力控感知的智能机器人在底吹炉清渣作业方法研究
Research on the Bottom Blowing Slag Cleaning Operation Method of Smelting Robot Based on Adaptive Force Control Perception
康志国 1魏立明 1钟明波 1王均灿 2王碧锋2
作者信息
- 1. 内蒙古兴安银铅冶炼有限公司,内蒙古 赤峰 025350
- 2. 北京瓦特曼智能科技有限公司,北京 100071
- 折叠
摘要
Abstract
Due to the problems of high labor intensity,harsh working environment,and low efficiency in traditional manual operation of bottom blowing furnace slag cleaning,a smelting robot bottom blowing furnace slag cleaning operation method based on adaptive force control perception is studied.Using a six dimensional force sensor to sense the contact force and torque of the smelting robot in the bottom blowing furnace slag cleaning operation,a PID controller is designed to dynamically adjust the operating parameters of the smelting robot based on the error between the perceived contact force and torque and the expected force and torque,achieving adaptive control of the bottom blowing furnace slag cleaning operation of the smelting robot.The experimental results show that the design method exhibits significant advantages in trajectory tracking control of bottom blowing furnace slag cleaning operation of smelting robots and control of robot end output force,verifying the superiority of this method.关键词
自适应控制/冶炼机器人/底吹炉/清渣作业Key words
Adaptive control/Smelting robot/Bottom blowing furnace/Slag cleaning operation分类
信息技术与安全科学引用本文复制引用
康志国,魏立明,钟明波,王均灿,王碧锋..基于自适应力控感知的智能机器人在底吹炉清渣作业方法研究[J].世界有色金属,2026,(4):48-50,3.
