工业机器人自适应力控制的新方法

机器人力控制系统的稳定性对接触环境刚性的变化很敏感，为了解决这一问题，本文首先建立了一种机器人与刚性环境相接触的动力学模型，然后，基于Ｐｏｐｏｖ超稳定理论设计出了一种机器人自适应力控制算法，该算法通过辨识环境刚性以获取与接触环境相适应的力控制反馈增益系数，理论分析和实现结果都证明这种方法在环境刚性大范围变化时，均能获得的控制效果。

A NEW APPROACH TO THE ADAPTIVE FORCE CONTROL OF INDUSTRIAL ROBOT

One of the difficulties of the control problem of the robot force control system is that the stability of the system is sensitive to the changes of the stiffness of the environment on which the force is exerted. To solve the problem, this paper first presents a model of the manipulator in contact with a rigid environment and then proposes an adaptive force control method based on the Popov's hyperstability criterion. The principle of the method is to identify the environment stiffness to determine an adaptive force feedback gain corresponding to the contacted environment.The theoretic analysis and experimental results show that this method can realize a stable force control when the environment stiffness changes in sufficiently large extent.