The Research Of Robot Compliant Control Based On Fuzzy Control Theory

The uppermost represent of automatization is intelligentize. The study of robot intelligentize has become one main aspect of technology development. As for intelligentize robot, there are 2 cores: the one is the percipience to environment of the system in those actions; the second is the robot real time action after the percipience. The highly unification of these two aspects is necessity requirement. Therefore, the study in force sense and force control is important component on comprehensive research in sensibility and action of robot. It is belong to the foundation of robot study. Force control is the core of force sense research. Force sense and force control interpenetrate the whole process of the robot performance. The typical feature of force control is force/position strongly coupling, which are very complex hybrid control and the main research direction of robot study. In the last twenty years, robot assembly is the key link of the auto- flexibility manufacture. It requires high-precision position information and the precise geometric feature of the assembling work piece. It is very important of the research of robot assembly to enlarge its application rang. In the robot assembly, because of the uncertainty of assembly, such as product common difference, controlling uncertainty and sensor error etc.), simply position control can抰 implement the assembly task with touch constraint. Since the little position error will possibly cause large touch force between work piece and environment, which can be damaged to robot or assembly body. It is not complete solution that how to quickly and precisely assembly. In the practice, because there are some uncertainties of assembly body, location, sensor error and robot motion, the assembly process might occur accident. Many researchers have done many good jobs. Since robot assembly is the historical development process of serial of touch states, the control strategy of assembly must adjust with the different states, which might have quick and effective control. In this thesis, the latest robot compliant control methods are introduced. And the detailed analysis and research of these methods are presented. Ill The key problem of robot compliant control and the solution are pointed out. The research directions are also pointed out On the bases, one method based on fuzzy control robot compliant control is presented. And the assembly experimentation is preformed using this method on Motoman UP6 robots. This experimentation shows .1 the method is correct and effective. At the same time, one algorithm based on feedforward iteration robot compliant is presented. And the simulation result may be a reference to others.