Smooth adaptive hybrid impedance control for robotic contact force tracking in dynamic environments
Smooth adaptive hybrid impedance control for robotic contact force tracking in dynamic environments
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DOI：
10.1108/ir-09-2019-0191
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发表时间：
2020-02-03
影响因子：
1.8
通讯作者：
Zhao, Xue
中科院分区：
文献类型：
--
作者：
Cao, Hongli;He, Ye;Zhao, Xue
PurposeThe目的，本文的目的是采取瞬态接触力响应，超调和稳态力跟踪误差的问题考虑到形成一个优秀的力controller.Design/方法/approachThe基本阻抗函数与预PID调谐器的设计，以改善力响应。结合混合阻抗和自适应混合阻抗控制的优点，提出了一种动态自适应调节函数，实现了对力超调的抑制和对力超调的跟踪，发现引入的预PID调节器阻抗函数在收敛到期望值和减小力超调方面比纯阻抗函数有更好的效果。通过引入动态自适应sigma调整函数，保持了力超调抑制和力跟踪误差的性能。仿真和实验结果表明，与以往的控制方法相比，所实现的控制性能良好。独创性/价值一个上级机器人控制器，由于具有以下特点，适应于各种复杂的任务：保持高精度的位置跟踪能力，在自由空间（现代工业机器人的基本能力）;在碰撞阶段保持高速、稳定和平滑的接触性能;并展示了稳态接触下的高精度力跟踪能力。
PurposeThe purpose of this paper is to take transient contact force response, overshoots and steady-state force tracking error problems into account to form an excellent force controller.Design/methodology/approachThe basic impedance function with a pre-PID tuner is designed to improve the force response. A dynamic adaptive adjustment function that combines the advantages of hybrid impedance and adaptive hybrid impedance control is presented to achieve both force overshoots suppressing and tracking ability.FindingsThe introduced pre-PID tuner impedance function can achieve more than the pure impedance function in aspects of converging to the desired value and reducing the force overshoots. The performance of force overshoots suppression and force tracking error are maintained by introducing the dynamic adaptive sigma adjustment function. The simulation and experimental results both show the achieved control performance by comparing with the previous control methods.Originality/valueA superior robot controller adapting to a variety of complex tasks owing to the following characteristics: maintenance of high-accuracy position tracking capability in free-space (basic capabilities of modern industrial robots); maintenance of high speed, stability and smooth contact performance in collision stage; and presentation of high-precision force tracking capability in steady contact.