Study On The Robotic Compliance Control And Visual Simulation In Uncertain Environment

Robotic active compliance control is an important technology in the intelligent manufacturing systems. It is known that for the existing of complex nonlinearity, strong coupling and lots of uncertainties in robotic systems, especially the complexity and uncertainty in the robotic compliance task, the application of the active compliance control is greatly constricted. This dissertation aims to solve the uncertain problems in active compliance control procedure using the soft computing methods.The different usages of the compliance control in the mechanical industries are analyzed and the performances of the impedance control are discussed using the geometrical figure method. Against the poor trajectory tracking ability of the impedance control in manufacturing field, a new approach based on the position impedance control is presented for the uncertainty of environment stiff and position, with a force tracking object impedance. The empirical cutting force model of a carbide rotary file is founded by orthonormal experiments, which can be used to set the expected force and the control parameters.A new robust impedance control method based on fuzzy compensation is proposed. The rule self-tuning fuzzy compensator adopts an improved rule factor adjustment function, which not only considers the position error and error diversification of the system, but also can prevent the great change of the force generated by the over compensation of the system. The application of object impedance model with force tracking capability ensures the reliability of the contact force control. The fuzzy compensator with self-tuning factor overcomes the disadvantage that the query table and single adjusting factor cannot carry out adjustment to the change of environment. The proposed method can automatically adjust the control rule to adapt the variation of the environment and compensate the uncertainty of the position, to make the system possess the better performances.The method to realize the position tracking by adjusting the object impedance parameter is discussed, and a robust impedance controller based on the object impedance parameters self-adjustment is designed. This controller can automatically adjust the object impedance parameters according to the...