Research On Hybrid Force/Position Control Of Manipulator

The manipulator is a simulation of the human arm mechanism,the robot mainimplementing agency. Since its launch in the early1950s, the development so far, it hasbeen gradually penetrated into the military, aerospace, medical, daily life and education,entertainment and other fields. When the manipulator performing various tasks,itcontact with the external environment, in order to make the manipulator to achieve theoptimum effect of work, we must control the manipulator should be move along thedesired trajectory, as well as the size of the contact force between the manipulator andexternal environment, namely the force and position control of the manipulator. Studyof hybrid force/position control algorithm of manipulator to expand the field ofmanipulator applications and increase the flexibility of the manipulator in the workenvironment has important significance. Based on the the existing achievements ofhybrid force/position control algorithm of manipulator in robot’s control theory, we dofurther research in the file of the associated control algorithms,which specificallyincludes:According to the classic R-C controller, base on the robot dynamics and kinematics,the hybrid expectations of manipulator force and position, can be transformed intomanipulator’s driving moment on each joint, and superimposed to each of the joints, sothat the hybrid force/position control of manipulator can be realized. At this point, theposition loop control degenerate into redundant manipulator position control, so weintroduction of the pseudo inverse/gradient projection method, to realize the hybridforce/position control of manipulator. While the force control loop, we achieve it by thetraditional robot dynamics.Analyzed impact process of the manipulator end-effector contact with the rigidenvironment, in view of the impact shock generated during the process of a series ofimpulse force, designed a shock oscillation suppression controller to weaken the impactvibration amplitude of the oscillation stage, shorten the duration of shock oscillation,ultimately achieve the purpose of protect the manipulator and the environment.Respectively in the Matlab/SimMechanics and ADAMS software to establishsimulation model of two degree of freedom manipulator, and in the typical manipulatorworking condition, simulated and validated the gradient projection method offorce/position hybrid controller and shock oscillation suppression controller, and finally verify the feasibility and effectiveness of the hybrid force/position control ofmanipulator as well as the impact of the shock process pulses force suppression.The model of the manipulator, hybrid force/position control algorithm, thevibration suppression and simulation of the manipulator control system are studied inthis thesis. The research results have the important theory and application values for Thecontrol theory and applications of the manipulator.