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当机器人与外界环境发生接触时,接触刚度等不确定性因素对机器人力控制系统的稳定性有很大影响。为了解决这个问题,本文根据变结构控制理论设计了一个机器人力控制器,并提出了一种旋转滑动平面的自适应算法,以加快系统状态的收敛速度和保证收敛过程的鲁棒性。装配实验结果表明,利用本文的方法所设计的机器人力控制器对接触刚度的变化具有很好的鲁棒性。
When the robot comes into contact with the external environment, the uncertainties such as the contact stiffness have a great influence on the stability of the robot force control system. In order to solve this problem, this paper designs a robot force controller based on variable structure control theory and proposes an adaptive algorithm of rotating sliding plane to speed up the convergence of system states and ensure the robustness of convergence process. The experimental results show that the robot controller designed by this method has good robustness to the change of contact stiffness.