Research For Robotic Compliant Peg-in-Hole Assembly Based On Impedance Control

With the development of the times and technology,Robotic technology has been given more and more attention.In some field such as automobile manufacturing industry,Most of the process is completed by robots.But these robots that adopt position and velocity control can only do some simple tasks,Such as spray paint,welding and others,but if the task needs to interact with the environment,the conventional control strategy is inadequate.This paper mainly studied for peg in hole assembly problem.Combined with impedance control algorithm proposed by the Hogan,1985,Put forward a solution based on impedance control algorithm to complete peg in hole assembly tasks.Thesis main work includes the following aspects:(1)First,this paper introduce the principle and characteristics of the impedance control algorithm in detail.Impedance control algorithm is a kind of compliance control algorithm.it can be a very good solution to the problem that manipulator interact with the environment.(2)Building simulation experiment platform,by setting different values to the impedance parameters,Observe and analysis the simulation results of the mechanical arm dynamic when interact with the environment,And concluded the impedance control parameters adjustment rules.Accordingly,Proposes an impedance control algorithm based on fuzzy control tuning parameters.The simulation results demonstrate t-hat the algorithm can change impedance parameters reasonably according to the different environmental parameters,So as to optimize the mechanical arm control performance when interact with the environment(3)The process of peg in hole assembly based on impedance control algorithm is simulated by simulink.By analyze the condition of end point actuator force and movement,Adjust the impedance parameter reasonably.Meet requirement of assembly trajectories and force at each process of peg in hole assembly.The simulation results show that the impedance control algorithm is feasibility.(4)This paper proposes an improved impedance control strategy for manipulator to execute compliance movement tasks.This strategy is equipped with Proportional Integration Differential for compensator.The simulation results show that the proposed strategy can improve the end-point-force of the manipulator when it executes the compliance movement task.(5)Finally,summarize the deficiencies of robotic peg in hole assembly based on impedance control.Put forward a new direction to improvement the robotic peg in hole assembly task.