工业机器人机械臂加工目标定位控制研究

摘要

In order to overcome the unfavorable factors of the nonlinearity,strong coupling and contact force which is difficult to measure accurately in industrial robot manipulator,improve the machining accuracy of target positioning,and avoid damage to machining target and end tool due to larger contact force in industrial robot manipulator machining target positioning control,a generalized momentum observer is proposed to estimate the control force between the manipulator and the target,and impedance sliding mode control method is proposed to improve the accuracy of target location.The Cartesian space dynamic model of the manipulator is built,and then the better contact force of the manipulator and the target can be obtained.It is proved that the system is asymptotically stable by Lyapunov function.Finally,the simulation results show that the method can improve the positioning accuracy of machining target,realize flexible contact between manipulator and machining target and ensure the machining target and end tool not damaged.%在工业机器人机械臂加工目标定位控制研究中,为了克服工业机械臂系统的非线性、强耦合性以及机械臂与加工目标的接触力难以精确测量的不利因素,提高加工目标定位的精度,避免由于接触力较大对加工目标和末端工具造成损坏.针对上述问题,提出了采用广义动量观测器估计机械臂与目标的接触力,采用阻抗滑模控制方法提高目标定位的精度.首先建立了机械臂的笛卡尔空间动力学模型;其次可以较好的获取到机械臂与目标的接触力,机械臂能较为精确地跟踪目标位置;然后根据Lyapunov函数证明了系统是渐近稳定的.最后仿真结果表明该方法能够提高机械臂加工目标定位精度,实现机械臂与加工目标柔性接触,保证了加工目标和末端工具不受到损坏.