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提出了一种面向位控操作机器人臂的阻抗力控制策略 .利用在线力反馈数据对未知约束环境的形状进行估计以获得接触点处的环境切矢和法矢 ,根据该切矢和法矢实时生成目标阻抗模型的虚拟参考运动轨迹 ,在力误差信号的驱动下由目标阻抗模型产生机器人的指令运动轨迹 ,通过跟踪该指令运动轨迹机器人臂能够保持和未知约束环境的接触跟踪并将力误差限制在可接受的范围之内 ,力误差信号的动态行为与目标阻抗模型一致 .为了验证控制策略的未知约束环境跟踪能力和力控制能力 ,以一个三杆平面机器人为例进行了计算机仿真 ,并在Adept 3精密装配机器人上进行了玻璃灯泡表面恒力跟踪的实验研究 ,仿真和实验结果表明文中提出的策略具有很好的未知表面跟踪和力控制能力 .
A control strategy for the resistance force of a robot manipulator with position control is proposed.Using on-line force feedback data to estimate the shape of an unknown constrained environment to obtain the tangent vector and the normal vector of the environment at the contact point. According to the tangent vector and real vector A virtual reference trajectory of a target impedance model is generated, a target trajectory of the robot is generated by a target impedance model driven by a force error signal, and a trajectory of the trajectory of the robot is tracked through the trajectory of the robot to keep contact tracking with an unknown constrained environment and limit a force error Within the acceptable range, the dynamic behavior of the force error signal is consistent with the target impedance model.In order to verify the unknown constrained environmental tracking ability and force control ability of the control strategy, a three-plane robot is taken as an example to carry on computer simulation, Adept 3 precision assembly robot is studied on the surface of the glass bulb. The simulation and experimental results show that the proposed strategy has a good ability of unknown surface tracking and force control.