Research On Compliance Control Method Of Contact Work Manipulator

Manufacturing is the pillar industry of China national economy.In 2015,China proposed the “Made in China 2025” strategic plan,and robots were regarded as one of the top ten industries in the strategy.The manipulator is a kind of robot that is widely used in the modern industrial production.As the manufacturing precision is higher and higher,the requirements on the manipulator not only requires the manipulator to perform high precision position tracking tasks,but also need to control the force between manipulator and external environment,completing the manipulator compliance control.For the compliance control of the manipulator in the contact environment,this paper has carried out the following aspects:(1)Established a three-dimensional model of 3 DOF manipulator and dynamics kinematics models.The 3 DOF manipulator was designed according to the performance,structure,transmission system,and the control system was also designed.Based on the 3 DOF manipulator,the dynamics and kinematics are modeled and analyzed,and the forward and inverse kinematics of the manipulator were solved,which lays a foundation for the design and simulation of the subsequent manipulator control algorithm.(2)Design of position control algorithm considering joint friction of manipulator.Aiming at the established 3 DOF manipulator dynamics model,the problems in modeling are analyzed.The main research is on the friction of the manipulator joints.Two kinds of manipulator position controllers are designed.One is adaptive robust friction compensation controller based on coulomb-viscous friction model,and the other is multi-layer neural network friction compensation based on continuous friction model controller to solve the influence of manipulator joint friction on control accuracy.(3)Research on the control of force compliance.Based on the design of the friction compensation position controller,the manipulator direct force/position hybrid control strategy and the position-based impedance control strategy are designed to achieve the compliance control of the force.The characteristics of the impedance controller parameters of the impedance control strategy are analyzed,and the influence of impedance control parameters on control effect is summarized.(4)Simulation verification.The effectiveness of the control algorithm is verified by establishing the Matlab/Simulink module manipulator model.