Please wait a minute...
工程设计学报
工程设计学报  2017, Vol. 24 Issue (1): 100-107    DOI: 10.3785/j.issn.1006-754X.2017.01.014
整机和系统设计     
基于阻抗控制的幕墙安装机器人柔顺操作研究
陈贵亮, 曹伟涛, 杨冬, 张守林, 李贺立
河北工业大学 机械工程学院, 天津 300130
Compliant operation research for slabstone-installing robot based on impedance control
CHEN Gui-liang, CAO Wei-tao, YANG Dong, ZHANG Shou-lin, LI He-li
College of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, China
 全文: PDF(3430 KB)   HTML
摘要：

为了提高幕墙安装机器人操作的柔顺性，从而真正解决建筑幕墙自动安装中人机协调的问题，采用自适应阻抗控制方法作为柔顺操作策略.依据建筑机器人物理模型建立了较为准确的阻抗控制模型，在机器人末端未接触运动空间和环境接触空间进行了自适应阻抗控制的研究，提出了通过减小力峰值防止幕墙破坏的控制参数的调整方法，借助MATLAB对控制系统进行了仿真，并对基于该算法的幕墙安装机器人进行了柔顺性操作实验.经过仿真和实验得到了适用于幕墙安装机器人的力控制算法，验证了自适应阻抗控制算法能够满足幕墙安装机器人柔顺性操作的要求.
关键词： 阻抗控制;  幕墙安装机器人;  柔顺操作;  力控制    
Abstract:

In order to improve the flexibility of the slabstone-installation robot operation, so as to solve the problem of man-machine coordination in building slabstone-installed automatically.According to the physical model of building robot, a more accurate impedance control model was established.Research on adaptive impedance control of robot end effector space and environment contact space was carried out.A method to adjust the control parameters of curtain wall damage by reducing the peak force was proposed.With the aid of MATLAB, the control system was simulated, and the flexible operation experiment was carried out on the slabstone-installing robot based on the algorithm.After the simulation and experiment, the force control algorithm was applied to the curtain slabstone-installing robot. Finally, the adaptive impedance control algorithm was proved to be able to meet the requirements of the flexible operation of the slabstone-installation robot.
Key words: impedance control    slabstone-installation robot    compliant operation    force control
收稿日期: 2016-08-22 出版日期: 2017-02-28
CLC:  TU689  
基金资助:

国家“十二五”科技支撑计划资助项目（2013BAF07B08）.
作者简介: 陈贵亮(1965-),男,河北张家口人,高级工程师,硕士生导师,博士,从事康复机器人、建筑机器人等研究,E-mail:xiaocao19890701@163.com.http://orcid.org//0000-0002-2606-3793
服务　　
把本文推荐给朋友
加入引用管理器
E-mail Alert
RSS
作者相关文章　　
陈贵亮
曹伟涛
杨冬
张守林
李贺立

引用本文:

陈贵亮, 曹伟涛, 杨冬, 张守林, 李贺立. 基于阻抗控制的幕墙安装机器人柔顺操作研究[J]. 工程设计学报, 2017, 24(1): 100-107.

CHEN Gui-liang, CAO Wei-tao, YANG Dong, ZHANG Shou-lin, LI He-li. Compliant operation research for slabstone-installing robot based on impedance control[J]. Chinese Journal of Engineering Design, 2017, 24(1): 100-107.

链接本文:

https://www.zjujournals.com/gcsjxb/CN/10.3785/j.issn.1006-754X.2017.01.014    或    https://www.zjujournals.com/gcsjxb/CN/Y2017/V24/I1/100

[1] 楚风华. "十二五"中国建筑业发展展望[J].中国建设信息,2011(4):2-7 CHU Feng-hua.Prospects for the development of China's construction industry in 12th Five-Year[J]. China Construction Information,2011(4):2-7.
[2] 王亚娥. 试论建筑幕墙行业成本控制的有效策略[J]. 科技风,2012(5):154. WANG Ya-e.On the effective strategy of cost control in construction curtain wall industry[J].Science and Technology Wind,2012(5):154.
[3] CHOI J H,LEE S Y, LEE K Y, et al. Automation system for curtain wall installation II (ASCI II)[2006-08-10].http://xueshu.baidu.com/s?wd=paperuri:(0daa6402150c05e186577ad325dd13f0)&filter=sc_long_sign&sc_ks_para=q%3DAutomation+system+for+curtain+wall+installation+II+%28ASCI+II%29&tn=SE_baiduxueshu_c1gjeupa&ie=utf-8&sc_us=9036715237523179311.
[4] KUSHIDA Daisuke, NAKAMURA Masatoshi, GOTO Satoru. Flexible motion of pull-out-work by articulated robot arm based on forcefree control[J]. IEEE International Conference on Industrial Electronics Society, 2000,3:1797-1802.
[5] 刘楚辉. 自适应控制的应用研究综述[J]. 组合机床与自动化加工技术, 2007(1):1-4. LIU Chu-hui. Application research of adaptive control[J].Combined Machine Tools and Automatic Processing technology, 2007(1):1-4.
[6] JUNG Seul,HSIA T C, BONITZ R G. Force tracking impedance control of robot manipulators under unknown environment[J]. IEEE International Conference on Control Systems Technology, 2004,12(3):474-483.
[7] JUNG Seul, HSIA T C. Force tracking impedance control of robot manipulators for environment with damping[J]. IEEE International Conference on Industrial Electronics Society, 2007:2742-2747.
[8] JUNG Seul, HSIA T C. Reference compensation technique of neural force tracking impedance control for robot manipulators[J]. Proceedings of the 8th World Congress on Intelligent Control and Automation,2010,20(1):650-655.
[9] 杨振. 基于阻抗控制的机器人柔顺性控制方法研究[D]. 南京:东南大学机械工程学院, 2005:6-25. YANG Zhen.Research on robot compliance control method based on impedance control[D].Nanjing:Southeast University,School of Mechanical Engineering, 2005:6-25.
[10] JUNG Seul, HSIA T C. Neural network techniques for robust force control of robot manipulaitors[J]. IEEE International Symposium on Intelligent Control, 1995:111-116.
[11] 孙伟, 于永璋. 几种建筑机器人概介[J]. 建筑机械化, 1990, 6(6):22-24. SUN Wei,YU Yong-zhang.A few construction robots[J].Construction Mechanization,1990, 6(6):22-24.
[12] 李铁军, 王海玲, 赵海文. 串并联板材安装机器人结构设计与实现[J]. 机器人, 2011(1):107-112. LI Tie-jun,WANG Hai-ling,ZHAO Hai-wen.Design and implementation of a series parallel plate installation robot[J].Robot,2011(1):107-112.
[13] HSIA T C. Simple robust schemes for cartesian space control of robot manipulators[J]. IEEE International Conference on Robotics and Automation, 1994, 9(4):167-174.
[14] HOGAN Neville. Impedance control of industrial robots[J]. Robotics and Computer-Integrated Manufacturing, 1984, 1(1):97-113.
[15] DAISUKE Kushida, GOTO Satoru, KYURA Nobuhiro. Flexible motion realized by forcefree control:pull-out-work by articulated robot arm[J]. IEEE International Conference on Robotics & Automation, 2001,3:2747-2752.
[16] HOGAN Neville. Impedance control:an approach to manipulation. Ⅰ-Theory. Ⅱ-Implementation. Ⅲ-Applications[J]. Journal of Dynamic Systems, Measurement, and Control, 107(1):1-24.
[1] 周婧,高红飞,卢林,段国林. 变论域模糊PID控制微流挤出型3D打印机的挤压力研究[J]. 工程设计学报, 2022, 29(5): 572-578.
[2] 刘庆祥,郭冰菁,韩建海,李向攀,黄明祥. 体感交互式上肢镜像康复训练机器人系统[J]. 工程设计学报, 2022, 29(2): 143-152.
[3] 吕君, 刘国华, 王昱. 老旧砌石拱坝的结构安全度研究[J]. 工程设计学报, 2021, 28(1): 56-62.
[4] 王奔, 朱龙彪, 沈祖军, 陈小林. LYP1050轮转胶印机控制系统设计[J]. 工程设计学报, 2021, 28(1): 112-120.
[5] 罗仁和, 曹晓燕, 余志强, 张永亮, 雷勇. 基于LabVIEW的车体静强度试验台测控系统[J]. 工程设计学报, 2019, 26(2): 206-214.
[6] 李富贵, 龙伟, 罗亮, 詹从来. 预测模糊控制在液化天然气调峰系统的应用[J]. 工程设计学报, 2016, 23(1): 95-100.
[7] 毛 君，杨振华，卢进南，谢 苗. 迈步式超前支护装备过渡过程支撑力控制系统设计[J]. 工程设计学报, 2015, 22(5): 387-393.
[8] 张 振，龚国芳，饶云意，吴伟强，刘 统. TBM试验台支撑推进液压系统设计与仿真分析[J]. 工程设计学报, 2015, 22(5): 324-329.
[9] 张 振，龚国芳，饶云意，吴伟强，刘 统. TBM试验台支撑推进液压系统设计与仿真分析[J]. 工程设计学报, 2015, 22(4): 324-329.
[10] 毛 君，杨振华，卢进南，谢 苗. 迈步式超前支护装备过渡过程支撑力控制系统设计[J]. 工程设计学报, 2015, 22(4): 387-393.
[11] 李 楷, 李红刚. 浮空飞行器压力调节控制系统工程研究[J]. 工程设计学报, 2009, 16(5): 344-347.
[12] 刘军, 何铁平, 罗石, 李衍德. 新型高效电磁反力作动器的设计[J]. 工程设计学报, 2006, 13(5): 317-320.
[13] 杨娅君. 柔性带材退卷张力控制系统的分析与设计[J]. 工程设计学报, 2000, 7(1): 49-52.