Research On Human-computer Cooperation Strategy Based On Dynamic System And Compliance Control

With the rapid development of science and technology,high and new technology has become the focus of competition among countries in the world.Robot technology,as an important branch of high and new technology,has attracted the attention of many countries.With the continuous development of robot technology,industrial robots,as an important member of the robot family,are constantly innovating their related technologies.Among various technologies emerging in an endless flow,the application and development of industrial robots in such force-sensing tasks as assembly,flexible placement and so on have also received extensive attention from people.Traditional industrial robots have only position control functions and can only perform some simple contact tasks,such as welding and painting.However,there are many different tasks that require contact with the environment and need to control the contact forces.This is a huge challenge for today's industrial robots.How to achieve constant contact force in robot operation and respond to the external environment is a hot research topic.Impedance control is a control method that combines the position trajectory of the motion with the force control.Position control and force control are carried out in the same frame at the same time.The stability of the whole system is high so that it can cope with the changes of the environment better.The dynamic system(DS)can adjust the speed so that there is a small contact speed at contact,so as to reduce the vibration force and achieve better constant force tracking.Therefore,the combination of the two algorithms can be better to complete some contact operations.This paper mainly proposes a force control strategy based on dynamic system and compliance control,which is used to solve the problem of unstable contact between tool and workpiece in the process of machining,and proves the value of the algorithm compared with the traditional method in practical application through experiments.The main research contents of this paper are as follows:(1)This paper introduces two different methods of impedance control algorithm,analyzes the force tracking method of impedance control,and judges the stability of impedance control.(2)Testing the contact force and compare the conditions of contact force under impedance control and demonstration mode.By changing different impedance control parameters,the influence of these parameters on the control process was studied.(3)Three modulation methods of dynamic system are introduced to understand the regulation mechanism of dynamic system.A force control strategy based on dynamic system and compliance control is proposed to solve the problem of unstable contact between tool and workpiece in the process of machining.(4)According to the proposed method,single-degree-of-freedom impedance control experiment and grinding experiment were conducted.The experiment shows that the force control strategy based on dynamic system and compliance control can effectively balance the vibration force and respond to the external environment,which has good application value in the polishing operation.