基于模糊迭代算法的曲面恒力跟踪

doi:10.16183/j.cnki.jsjtu.2020.04.002

摘要/Abstract

摘要： 针对机器人末端执行器对曲面轮廓跟踪时难以得到恒定跟踪力的问题，对机器人末端执行器和曲面轮廓的接触力进行了研究，建立了研究对象曲面法向力和已知传感器坐标系的映射关系，提出了一种模糊迭代算法.模糊迭代算法不需要得到系统内部传递函数，简化了建模设计，同时，模糊迭代算法根据上次实验力误差以及误差变化量模糊补偿机器人的轨迹，加快了收敛速度，文中在理论上证明了模糊迭代算法有界收敛.实验结果显示: 接触力的波动范围在±3 N之内，验证了此算法的可行性，相比于传统的比例微分(PD)算法，接触力误差波动的均方差减少了42%；相比于未进行模糊补偿的算法，在所选择的时间段内迭代周期至少减了1次.

关键词: 机器人, 曲面跟踪, 恒力控制, 模糊算法, 迭代算法

Abstract: Aiming at the problem that it is difficult to obtain a constant tracking force when the robot end-effector tracks the contour of a curved-surface workpiece, the contact force between robot end-effector and the curved-surface workpiece is analyzed, the mapping relationship between the normal force of the curved surface and the known sensor coordinate system is established, and a fuzzy iterative algorithm is proposed. Iterative algorithm does not need to get the advantages of the system internal transfer function, which simplifies the modeling design. Meanwhile，the fuzzy iterative algorithm compensates the robot trajectory based on the previous experimental force error and the amount of error change, which accelerates the convergence speed. The bounded convergence of fuzzy iterative algorithm is proved theoretically. The experimental results show that the fluctuation range of contact force is within ±3 N, which verifies the feasibility of this algorithm. Compared with the traditional proportional-derivative (PD) algorithm, the standard deviation of contact force of the fuzzy iterative algorithm is reduced by 42%. Compared with the iterative algorithm without fuzzy compensation, the iteration cycle is reduced at least once in the selected time periods.

Key words: robot, curved-surface tracking, constant force control, fuzzy algorithm, iterative algorithm

中图分类号:

TP 242.2

张铁, 肖蒙, 邹焱飚, 肖佳栋. 基于模糊迭代算法的曲面恒力跟踪[J]. 上海交通大学学报, 2020, 54(4): 344-351.

ZHANG Tie, XIAO Meng, ZOU Yanbiao, XIAO Jiadong. Curved-Surface Constant Force Tracking Based on Fuzzy Iterative Method[J]. Journal of Shanghai Jiao Tong University, 2020, 54(4): 344-351.

参考文献

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