Research On Force/Position Control Of Robot Manipulator

Robotics is a comprehensive and crossing discipline, it has aroused great interest of scientists, researchers and engineers then the scientist research on the robot control algorithm and engineering applications get lots of meaningful results. In this dissertation, an industrial robot manipulator which is ABB is used as a model, and use virtual prototyping research on hybrid force/position control problem.The main work includes the following aspects:First of all, using the theory of D-H and the robot coordinate transformation to study robot forward and inverse kinematics, and then the dynamic equations of flexible manipulator are built using Lagrange equations. Then using the robot toolbox and GUI which are in MATLAB to establish the simulation interface.Secondly, analysis of impedance control algorithms, and use this method to solve the manipulator force / position control problem. Impedance controller is designed to achieve better force performance. It is an indirect method of controlling force. When study impedance controller, this dissertation uses Simulink/SimMechanics to establish the robot manipulator. Simulink/SimMechanics is very useful in mechanical engineering.Thirdly, study the traditional position/force control methods and based on this study, neural network compensation for robot are proposed considering friction and robot of uncertain parameters. This dissertation uses RBF to compensate for robot manipulator uncertain parameters, and using observers to observer external disturbance. Then use fuzzy controller to control the force of robot manipulator.Finally, using ADAMS and MATLAB to establish Co-simulation platform, and use this platform to solve the manipulator force/position control problem. In order to ADAMS and MATLAB can communicate with each other, ADAMS/CONTROL is used to establish the Co-simulation interface. To establish the model of the mechanical system in ADAMS, and then to establish the controller in MATLAB.