Abstract An adaptive impedance control algorithm was proposed for accurate force control between end effector of curtain wall installation robot and environment. The algorithm could attain force tracking combining a simplified dynamic model of the robot and adaptive theory.In order to improve tracking speed, overshoot and oscillation times, damping parameter B was adjusted in real time and the adjusting method of fuzzy rules was explained so as to get proper parameters B. When deviation between contact force and expected force was big, smaller value of the damping parameter B should be chosen. On the contrary, when the deviation was small or the system was in a state of oscillation in balanced position, the larger value of parameter B was conducive to make the system have good stability. Simulation showed that the designed fuzzy adaptive impedance control algorithm could accurately control contacting force with less overshoot, less oscillation times and rapid response. It not only retained the advantages of adaptive control method but also improved the control quality of the guidance system. Compared with adaptive impedance control algorithm, the improved fuzzy control method made the peak value of force decreased by 6.25%, the oscillation times reduced by 33.33% and tracking velocity quickened about 36.36%, which could improve the working efficiency and security.
LIU Zhi-guang, YU Fei, ZHANG Liang, LI Tie-jun, AN Zhan-fa. Force tracking research for robot based on fuzzy adaptive impedance control algorithm. Chinese Journal of Engineering Design, 2015, 22(6): 569-574.
