非结构环境下的机器人自适应变阻抗力跟踪控制方法

Aiming at the uncertainty of environmental stiffness and the unknown dynamic change of environmental position during force tracking, a force tracking control strategy based on adaptive variable impedance in an unstructured environment is proposed. Firstly, by establishing a contact force model between the robot and the environment, the requirements for environmental stiffness and environmental position in an ideal situation are analyzed. Then, a new impedance model is established to adapt to the situation of uncertain environmental stiffness, and the parameters of the impedance model are adaptively adjusted online according to the change of contact force to compensate for the unknown dynamic change of the environment in real time, and the stability of the adaptive variable impedance is proved. Finally, a comparison between the classical fixed impedance and the proposed adaptive variable impedance is carried out through simulation and physical experiments in an unstructured environment. The experimental results show that this strategy can achieve a better force tracking effect compared with the fixed impedance control.

针对力跟踪时环境刚度不确定及环境位置动态变化的未知性,提出一种非结构环境下基于自适应变阻抗的力跟踪控制策略.首先,通过建立机器人与环境的接触力模型,分析理想情况下对环境刚度和环境位置的要求;然后,建立新的阻抗模型来适应环境刚度不确定的情况,并根据接触力的变化对阻抗模型参数进行在线自适应调节,用于实时地补偿对环境动态变化的未知性,并对自适应变阻抗的稳定性进行证明;最后,对经典的定阻抗与所提出的自适应变阻抗进行非结构环境下的仿真和物理实验的对比,实验结果表明该策略相比于定阻抗控制能够达到更好的力跟踪效果.