Research On Human-Machine Cooperation Construction Robot Operation Intention Understanding And Compliant Control Method

With the rapid growth of China's economy,the process of urbanization is accelerating rapidly.The construction industry in the country has been continuously extended to high altitude.Large-scale high-altitude buildings have mushroomed in various cities.At the same time,the population of the cities in the most developed regions has continued to expand,and high-rise buildings have gradually replaced traditional residential buildings.Under the impetus of "green building" and "Made in China 2025",assembly-type building has become an inevitable trend in the construction industry.Not only does prefabricated building significantly increase the efficiency of construction operations,it also more closely meets the requirements of green buildings,the standardization of the design of the construction industry and the informationization of project management,the positive relationship between the standard of structural parts and the production efficiency,and more favorable is the cost of components.It will be greatly reduced,coupled with the smart management mode of the factory,the cost performance of the entire prefabricated building will be higher and higher,which makes the development of construction industry robots imminent.This topic analyzes the prefabricated buildings in the construction industry.The laboratory-independent building curtain wall installation robot is used as the object,and the flexibility of the robot is studied using machine learning and impedance control algorithms.First of all,it analyzes the kinematics and dynamics modeling of the construction robot and establishes its mathematical model,which lays the foundation for the study of postcompliance.The core content of this study is as follows:(1)Research on intentional understanding of human-robot cooperative robots,study the characteristics of input information of human operators during the human-robot collaboration process,and summarize the control strategies of robot sensors for accurate judgment and prediction of input information,and verify the feasibility of the algorithm through a onedegree-of-freedom robot..(2)Comparing the difference between classical impedance control and admittance control in principle,the mathematical model of control theory is established by selecting the simplified model of the large-armed arm of the robot as the object of simulation research.Through the comparison of simulation results,the admittance control algorithm is obviously more applicable to the study of compliance control strategies for building curtain wall installation robots.Because the environmental stiffness of the end contact is unknown in a complex installation environment,an adaptive algorithm is added on the admittance control basis to simulate the end contact force under different environmental stiffness.(3)Combining the control algorithm with the robot's motion control system,through experiments on the end contact force in the installation process,it is verified that the adaptive admittance control can be used to realize the robot's flexibility in the complex environment;the robot is used with the laser tracker.End of movement tracking.The experiment proves that the force control system of the building curtain wall installation robot designed by this project can realize the installation task of the robot through human-robot collaboration.