基于集成概率模型的变阻抗机器人打磨力控制

郭万金,赵伍端,利乾辉,赵立军,曹雏清

Ensemble probabilistic model based variable impedance for robotic grinding force control

Wan-jin GUO,Wu-duan ZHAO,Qian-hui LI,Li-jun ZHAO,Chu-qing CAO

表 1 打磨力绝对跟踪误差

Tab.1 Absolute tracking errors of robotic grinding force

$ {F_{\text{e}}} $/N $ \xi $ $ f_{_{\text{d}}}^{\max } $/N $f_{\text{d}}^{\text{s}}$/N2 $f_{_{\text{d}}}^{{\rm{m}}} $/N $ {F_{\text{e}}} $/N $ \xi $ $ f_{_{\text{d}}}^{\max } $/N $f_{\text{d}}^{\text{s}}$/N2 $f_{_{\text{d}}}^{{\rm{m}}} $/N 15 1 16.676 0 3.316 8 0.186 7 20 10 17.913 7 3.111 4 0.115 2 2 14.254 5 2.683 1 0.185 8 15 2.811 9 2.037 6 0.106 4 5 12.026 1 2.287 3 0.182 4 16 2.783 1 2.080 0 0.082 4 10 2.822 3 1.658 6 0.122 2 30 1 38.104 3 9.753 4 0.444 9 15 2.282 2 1.653 1 0.102 3 2 32.612 0 6.029 0 0.427 9 19 2.285 2 1.664 5 0.101 3 5 21.904 9 3.639 3 0.371 9 20 1 25.256 7 5.608 3 0.175 8 10 8.656 9 2.917 2 0.274 3 2 24.269 6 4.950 4 0.151 5 12 7.107 7 2.844 6 0.220 0 5 21.937 5 4.024 5 0.126 7 15 3.210 9 2.843 5 0.160 7