振动基柔顺驱动打磨机器人的力/位混合控制研究

针对柔顺打磨机器人在移动作业过程中，在基础振动、柔性振动与环境接触力耦合作用下非线性控制问题，提出一种新型鲁棒轨迹跟踪力/位混合控制策略。使用第二类拉格朗日法建立柔顺机械臂的动力学方程，通过奇异摄动法将上述系统分为快、慢2个时间尺度的子系统。慢变子系统对系统刚性部分采用力/位混合控制方法，其中力控制采用PID控制，位置控制采用基于神经网络的鲁棒控制。快变子系统对系统柔性部分采用速度差反馈法进行控制。结果表明：利用所提出的控制策略，机械臂末端的轨迹跟踪效果较好且打磨力保持稳定，对非线性振动有较好的抑制效果。

Research on Force/Position Hybrid Control of a Vibration-Based Compliant Drive Grinding Robot

Aiming at the non-linear control problem of the compliant grinding robot under the coupling action of basic vibration,flexible vibration and environmental contact force during mobile operation,a new type of robust trajectory tracking force/position hybrid control strategy was proposed.The second type of Lagrangian method was used to establish the dynamic equation of the compliant manipulator,and the above-mentioned system was divided into two time-scale fast and slow subsystems by using the singular perturbation method.In the slow-varying subsystem,a force/position hybrid control method was adopted for the rigid part of the system,PID control was used to control the force,and the robust control based on neural network was used to control the position.In the fast-change subsystem,the speed difference feedback method was used to control the flexible part of the system.The results show that by using the proposed control strategy,the trajectory tracking effect of the end of the manipulator is better and the grinding force remains stable,which has a good suppression effect on nonlinear vibration.