Fuzzy Impedance Control for Robot Impact Force

被引：0

作者：

Li Jing-zheng ^{[1
,2
]}

Liu jia ^{[1
,2
]}

Yang Sheng-qiang ^{[1
,2
]}

Zhang Jing-jing ^{[1
,2
]}

Qiao Zhi-jie ^{[1
,2
]}

机构：

[1] Taiyuan Univ Technol, Coll Mech & Transport Engn, Taiyuan 030024, Shanxi, Peoples R China

[2] Shanxi Key Lab Precis Machining, Taiyuan 030024, Shanxi, Peoples R China

来源：

PROCEEDINGS OF THE 33RD CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2021) | 2021年

关键词：

Impedance control; Fuzzy system; Collision and impact;

D O I：

10.1109/CCDC52312.2021.9601912

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Aiming at the high efficiency and quality machining of complex blade, which is an important part of aero-engine, steam turbine and gas turbine, the industrial robot is used for polishing and grinding. Based on the traditional impedance control, a combined control strategy, fuzzy impedance control, is obtained by fusing the fuzzy system and impedance control. On this control strategy, a simulation model is built on Simulink to carry out the collision and impact simulation experiment between the robot and the workpiece. The simulation results show that, compared with the traditional impedance force control, the proposed strategy accelerates the convergence speed, significantly reduces the impact between the robot and the workpiece, and is more beneficial to protect the robot, polishing tool and the workpiece.

引用

页码：340 / 344

页数：5

共 7 条

[1] Learning variable impedance control [J].

Buchli, Jonas ;

Stulp, Freek ;

Theodorou, Evangelos ;

Schaal, Stefan .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2011, 30 (07) :820-833

[2] Adaptive neuro fuzzy based hybrid force/position control for an industrial robot manipulator [J].

Chaudhary, Himanshu ;

Panwar, Vikas ;

Prasad, Rajendra ;

Sukavanam, N. .

JOURNAL OF INTELLIGENT MANUFACTURING, 2016, 27 (06) :1299-1308

[3] A force commanded impedance control for a robot finger with uncertain kinematics [J].

Doulgeri, Z ;

Arimoto, S .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1999, 18 (10) :1013-1029

[4] Adaptive variable impedance control for dynamic contact force tracking in uncertain environment [J].

Duan Jinjun ;

Gan Yahui ;

Chen Ming ;

Dai Xianzhong .

ROBOTICS AND AUTONOMOUS SYSTEMS, 2018, 102 :54-65

[5]

F Wang, 2010, 2010 IEEE INT C ROBO, P1555

[6] Online learning of virtual impedance parameters in non-contact impedance control using neural networks [J].

Tsuji, T ;

Terauchi, M ;

Tanaka, Y .

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, 2004, 34 (05) :2112-2118

[7]

Zhang C., 2020, ARCH COMPUT METHOD E, DOI [10.5772/intechopen.86701, DOI 10.16383/J.AAS.C180131, DOI 10.1007/S11831-020-09467-5]

← 1 →