| 基于自适应阻抗控制的轴孔装配方法 |
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| 引用本文： | 芦 俊,颜景平,陈俊杰.基于自适应阻抗控制的轴孔装配方法[J].控制理论与应用,2003,20(1):85-88. |
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| 作者姓名： | 芦 俊 颜景平 陈俊杰 |
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| 作者单位： | 1. 东南大学,机械工程系,江苏,南京,210018
2. 东南大学,仪器科学与工程系,江苏,南京,210018 |
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| 基金项目： | 国家计委211工程(2102002001)资助项目 |
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| 摘 要： | 提出了一种基于自适应阻抗控制的轴孔装配方法,它能根据得到的力信息,按照自适应调整律对机器人末端的参考位置进行修正,使得轴始终朝着减小卡阻力的方向运动,最终完成插轴入孔的动作.其算法简单,计算量小,修正量的计算可以在线进行,故能满足实时控制的要求.仿真结果表明了这种方法的有效性.
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| 关 键 词： | 机器人 插轴入孔 自适应阻抗控制 位置调整 |
| 文章编号： | 1000-8152(2003)01-0085-04 |
| 收稿时间： | 2001/9/10 0:00:00 |
| 修稿时间： | 2002/3/13 0:00:00 |
Peg-in-hole insertion method based on adaptive impedance control |
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| LU Jun,YAN Jing-ping,CHEN Jun-jie.Peg-in-hole insertion method based on adaptive impedance control[J].Control Theory & Applications,2003,20(1):85-88. |
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| Authors: | LU Jun YAN Jing-ping CHEN Jun-jie |
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| Affiliation: | Department of Mechanical Engineering,Southeast University, Jiangsu Nanjing 210018,China; Department of Instrument Science and Engineering,Southeast University, Jiangsu Nanjing 210018,China |
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| Abstract: | A peg-in-hole insertion method based on adaptive impedance control is presented. The reference position of robot end-effector is modified according to force information through adaptation law, which makes the peg move in the direction that reduces jamming forces, and finally the insertion is accomplished. This method is simple and the modification can be computed on-line, so it satisfies the requirement of real-time control. Simulation results are given to verify its effectiveness. |
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| Keywords: | robot peg-in-hole insertion adaptive impedance control position modification |
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