Robot constant force grinding based on variable parameter impedance control
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摘要: 面向机器人恒力打磨需求，文章设计了阻抗参数在线调整与离线优化的自适应阻抗控制算法，实现了打磨力控制。自适应阻抗控制算法将刚度参数作为时变参数，根据打磨接触力实时在线调整，以消除打磨过程中的稳态误差。针对阻尼参数和惯性参数难以整定的问题，以降低系统超调量和调整时间作为优化目标，采用改进粒子群算法进行阻抗参数离线优化。进行了机器人恒力打磨仿真，仿真结果表明，该方法可以综合改善机器人的恒力控制性能。开展了机器人恒力打磨实验，实验结果表明，该方法可以有效地提高机器人打磨表面质量。Abstract: An adaptive impedance control algorithm with online adjustment and offline optimization of impedance parameters was designed for the constant force polishing needs of robots to achieve polishing force control. The adaptive impedance control algorithm takes stiffness parameters as time-varying parameters and adjusts them online in real-time based on the grinding contact force to eliminate steady-state errors during the grinding process. Aiming at the problem of difficult tuning of damping and inertia parameters, an improved particle swarm optimization algorithm is adopted for offline optimization of impedance parameters to reduce system overshoot and adjustment time. A constant force polishing simulation of the robot was conducted, and the simulation results showed that the method proposed in this paper can comprehensively improve the constant force control performance of the robot. The robot constant force polishing experiment was conducted, and the experimental results showed that the method proposed in this paper can effectively improve the surface quality of robot polishing.
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表 1 控制性能指标比较
方法 稳态误差/N 调整时间/s 超调量/（%） 传统阻抗控制 −0.46 0.34 11.28 自适应阻抗控制 −0.01 0.41 11.65 本文方法 −0.01 0.23 2.14 
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表 2 打磨后工件表面粗糙度对比
方法 粗糙度均值/μm 粗糙度标准差/μm 传统阻抗控制 0.36 0.34 变刚度参数阻抗控制 0.31 0.26 本文方法 0.27 0.22
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