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浙江大学学报(工学版)
浙江大学学报(工学版)  2022, Vol. 56 Issue (9): 1876-1881    DOI: 10.3785/j.issn.1008-973X.2022.09.021
机械工程     
基于自抗干扰的装配机器人阻抗控制技术
张世玉(),陈东生*(),宋颖慧
中国工程物理研究院 机械制造工艺研究所，四川 绵阳 621900
Impedance control technology of assembly robot based on active disturbance rejection
Shi-yu ZHANG(),Dong-sheng CHEN*(),Ying-hui SONG
Institute of Mechanical Manufacturing Technology, China Academy of Engineering and Physics, Mianyang 621900, China
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摘要：

为了提升机器人装配作业的精确性和柔顺性，提出改进型自抗扰阻抗控制策略. 该策略通过自抗扰控制器生成新期望力来调整机器人末端工具坐标系的位置，实现精确的力跟踪. 通过扰动观测器观测环境信息并补偿控制系统的期望力，提高控制系统对环境参数的适应性. 引入阻抗模型改进扰动观测器，使观测器的响应速度增大，力跟踪的精度提高. 基于六自由度机器人的精密轴孔装配实验结果表明，与传统阻抗控制相比，基于自抗扰控制（ADRC）的阻抗控制能够在较小的接触力误差下完成装配，且基于改进型自抗扰控制的阻抗控制的力平均误差比改进前自抗扰控制减小12.0%~28.2%.
关键词： 轴孔装配;  柔顺装配;  阻抗控制;  自抗扰控制(ADRC);  机器人    
Abstract:

An improved active disturbance rejection impedance control strategy was proposed, in order to improve the accuracy and flexibility of robot assembly operations. In this strategy, the new expected force was generated by the active disturbance rejection controller to adjust the position of the robot's end tool coordinate system, and achieve the accurate force tracking. The environmental information was observed by the disturbance observer and the expected force of the control system was compensated to improve the adaptability of the control system to environmental parameters. The impedance model was introduced to improve the disturbance observer, which increased the response speed of the observer and improved the precision of force tracking. The experimental results of precision peg-in-hole assembly based on 6-DOF robot showed that the impedance control based on active disturbance rejection control (ADRC) could complete the assembly with less contact force error to traditional impedance control, and the force average error of the impedance control based on improved ADRC was reduced by 12.0% to 28.2% compared with that before the improvement.
Key words: peg-in-hole assembly    compliant assembly    impedance control    active disturbance rejection control (ADRC)    robot
收稿日期: 2021-09-06 出版日期: 2022-09-28
CLC:  TP 242  
通讯作者: 陈东生     E-mail: 13980692301@163.com;13518311304@163.com
作者简介: 张世玉（1996—），男，硕士生，从事机器人装配研究. orcid.org/0000-0001-5989-7973. E-mail： 13980692301@163.com
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张世玉
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引用本文:

张世玉,陈东生,宋颖慧. 基于自抗干扰的装配机器人阻抗控制技术[J]. 浙江大学学报(工学版), 2022, 56(9): 1876-1881.

Shi-yu ZHANG,Dong-sheng CHEN,Ying-hui SONG. Impedance control technology of assembly robot based on active disturbance rejection. Journal of ZheJiang University (Engineering Science), 2022, 56(9): 1876-1881.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2022.09.021    或    https://www.zjujournals.com/eng/CN/Y2022/V56/I9/1876

图 1  轴孔两点接触状态
图 2  自抗扰阻抗控制策略
图 3  改进型自抗扰阻抗控制策略
图 4  2种自抗扰控制下扩张状态观测器的状态观测误差
图 5  六轴工业机器人
图 6  轴孔试验件
方向 md bd kd
X、Y 5 100 0.1
Z 30 200 0.2
A、B 10 300 0.1
表 1  轴孔装配过程中3种算法在各方向的阻抗参数
图 7  装配过程中3种算法在各方向的力误差
算法 eAEF,X/N eAEF,Y/N eAEF,Z/N eAEF,A/(N·m) eAEF,B/(N·m)
阻抗 1.707 0.742 2.620 0.399 0.910
自抗扰阻抗 0.644 0.431 0.954 0.220 0.459
改进型自抗扰 0.563 0.315 0.649 0.158 0.404
表 2  装配过程中不同算法的接触力和力矩平均误差
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