基于模型预测控制的磨削机器人末端力跟踪控制算法

doi:10.6040/j.issn.1672-3961.0.2017.569

山东大学学报(工学版) ›› 2018, Vol. 48 ›› Issue (1): 42-49.doi: 10.6040/j.issn.1672-3961.0.2017.569

基于模型预测控制的磨削机器人末端力跟踪控制算法

刘哲^1,2,宋锐³,邹涛^1*

1. 中国科学院沈阳自动化研究所中国科学院网络化控制系统重点实验室, 辽宁沈阳 110016;2. 中国科学院大学, 北京 100049;3. 山东大学控制科学与工程学院, 山东济南 250061

收稿日期:2017-11-07 出版日期:2018-02-20 发布日期:2017-11-07
通讯作者: 邹涛(1975— ),男,辽宁沈阳人,研究员,主要研究方向为工业过程实时优化和模型预测控制. E-mail: zoutao@sia.cn E-mail:zliu8666@gmail.com
作者简介:刘哲(1993— ),男,山东菏泽人,硕士,主要研究方向为机器人柔顺力跟踪控制. E-mail:zliu8666@gmail.com
基金资助:
国家自然科学基金资助项目(61773366,61503257);NSFC-浙江两化融合联合基金资助项目(U1509212);山东省重点研发计划资助项目(2017CXGC0915)

End force tracking control algorithm of grinding robot based on model predictive control

LIU Zhe^1,2, SONG Rui³, ZOU Tao^1*

1. Key Laboratory of Networked Control System of CAS, Shenyang Institute of Automation of Chinese Academy of Sciences, Shenyang 110016, Liaoning, China;
2. University of Chinese Academy of Sciences, Beijing 100049, China;
3. School of Control Science and Engineering, Shandong University, Jinan 250061, Shandong, China

Received:2017-11-07 Online:2018-02-20 Published:2017-11-07

摘要/Abstract

摘要： 基于曲面预测与模型预测控制算法提出磨削机器人对连续曲面工作时的末端力控制算法。给出机械臂离散、线性化的动力学模型;根据曲面预测算法计算未来时刻的曲面坐标,通过快速算法和求逆解运算获得机械臂满足设定值时各关节的期望角度;由动态矩阵控制算法求得机械臂各关节的输入力矩,以实现对期望关节角的轨迹跟踪。在仿真试验中控制机械臂追踪未知连续曲面,证明了机械臂针对未知曲面作业时所提算法力控制的实时有效性,并且达到目标要求。

关键词: 接触环境, 机械臂, 模型预测控制, 力控制

Abstract: A precise control algorithm using the model predictive control and surface prediction was proposed. The dynamic model and the prediction model of the manipulator were given. The surface coordinates of the next moment were obtained according to the surface prediction algorithm, and the desired rotation angle of each joint was obtained by the fast algorithm and the inverse kinematic algorithm. And in order to realize the overshoot tracking of the desired joint angle, the dynamic matrix control algorithm was used to solve the input torque of each joint motor. The end-point of manipulator was controlled to track the continuous surface by experimental and simulation. The results showed that the end force control algorithm using surface prediction and model prediction algorithm could effectively track the continuous surface in real time, which satisfied the ideal force control requirement.

Key words: model predictive control, manipulator, force control, interaction environment

中图分类号:

TP242

刘哲,宋锐,邹涛. 基于模型预测控制的磨削机器人末端力跟踪控制算法[J]. 山东大学学报(工学版), 2018, 48(1): 42-49.

LIU Zhe, SONG Rui, ZOU Tao. End force tracking control algorithm of grinding robot based on model predictive control[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2018, 48(1): 42-49.

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基于模型预测控制的磨削机器人末端力跟踪控制算法

End force tracking control algorithm of grinding robot based on model predictive control

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