JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE) ›› 2018, Vol. 48 ›› Issue (1): 42-49.doi: 10.6040/j.issn.1672-3961.0.2017.569

Previous Articles     Next Articles

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

LIU Zhe1,2, SONG Rui3, ZOU Tao1*   

  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

PDF (PC)

1479

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

CLC Number: 

  • TP242
[1] 谭福生,葛景国.力控制技术在机器人打磨中的应用及系统实现[J].上海电气技术,2008,1(2):35-48. TAN Fusheng, GE Jingguo. Research on force-control based robotic machining and its package implementation[J]. Journal of Shanghai Electric Technology, 2008, 1(2):35-48.
[2] 范波涛,张良.蒙特卡洛方法在喷浆机器人工作空间分析中的应用[J].山东工业大学学报,1999,29(2):146-151. FAN Botao, ZHANG Liang. Application of MONTE C-ARIO method in analysis of the working space of spray robot[J]. Journal of Shandong University of Technology, 1999, 29(2):146-151.
[3] 张秀丽,谷小旭,赵洪福.一种基于串联弹性驱动器的柔顺机械臂设计[J]. 机器人,2016,38(4):385-394. ZHANG Xiuli, GU Xiaoxu, ZHAO Hongfu. Design of a compliant robotic arm based on series elastic actuator[J]. Robot, 2016, 38(4):385-394.
[4] 洪汝渝. 六轴机器人柔顺控制的研究[J].机器人,2000, 22(2):143-147. HONG Ruyu. A study of the compliance control of six-DOF robots[J]. Robot, 2000, 22(2):143-147.
[5] 李汉初.一种机器人的自适应控制[J].山东工业大学学报,1990,20(1):35-40. LI Hanchu. One adaptive control scheme for robot[J]. Journal of Shandong University of Technology, 1990, 20(1):35-40.
[6] ALBU S A, HADDADIN S, OTT C, et al. The DLR lightweight robot: design and control concepts for robots in human environments[J]. Industrial Robot, 2007, 34(5): 376-385.
[7] BORENSTEIN J, EVERETT H R, FENG L, et al. Mobile robot positioning: sensors and techniques[J]. Journal of Field Robotics, 2015, 14(4):231-249.
[8] YAMAD Y, HIRASAWA Y, HUANG S, et al. Human robot contact in the safe guarding space[J]. AS-ME Transaction on Mechatronics, 1997, 2(1):230-236.
[9] 黄剑斌.基于阻抗控制的空间机械臂接触控制与轨迹规划技术[J].航天器工程,2013,4(22):43-48. HUANG Jianbin. Space manipulator interaction control and trajector generation based on cartesion impedance control[J].China Academy of Space Technology, 2013, 4(22):43-48.
[10] WILSON M, SPONG M W. Robot modeling and control [J]. Industrial Robot An International Journal, 2006, 17(5):709-737.
[11] 张铁,胡广,陈首彦.基于模糊自整定PID的力控制磨削实验研究[J].现代制造工程,2016,1(9):121-125. ZHANG Tie, HU Guang, CHEN Shouyan. Experiment research on force control grinding based on fuzzy-PID [J]. Modern Manufacturing Engineering, 2016, 1(9):121-125.
[12] 曾志文,卢惠民.基于模型预测控制的移动机器人轨迹跟踪[J].控制工程,2011,18(S1):80-85. ZENG Zhiwen, LU Huimin. Trajectory tracking based on model predictive control for omni-directional mobile robot[J]. Control Engineering of China, 2011, 18(S1): 80-85.
[13] 邹涛.模型预测控制[M].北京:化学工业出版社, 2010: 120-135.
[14] 帅鑫,李艳君,吴铁军.一种柔性机械臂末端轨迹跟踪的预测控制算法[J]. 浙江大学学报(工学版), 2010,44(2):259-264. SHUAI Xin, LI Yanjun, WU Tiejun. Real time predictive control algorithm for endpoint trajectory tracking of flexible manipulator[J]. Journal of Zhejiang University(Egineering Science), 2010, 44(2):259-264.
[15] 潘昊,邹涛. 一种多变量快速预测控制算法的原理与仿真研究[J].控制与决策, 2014, 38(2):617-643. PAN Hao, ZOU Tao. The principle and simulation of a fast algorithm of multivariable predictive control[J]. Control and Decision, 2014, 38(2):617-643.
[16] 付庆华,曹玉强.模型预测算法在温度控制中的应用[J]. 山东工业大学学报,1996, 26(增刊1):380-383. FU Qinghua, CAO Yuqiang. The application of model predication algorithm in temperature control [J]. Journal of Shandong University of Technology, 1996, 26(Suppl.1):380-383.
[17] 赵众,池上康之,中村政俊.基于非线性分离模型的预测控制及其应用[J]. 山东大学学报(工学版), 2005, 35(3):58-62. ZHAO Zhong, IKEGAMI Y, NAKAMURA M. Predictive control based on nonlinear separation model[J]. Journal of Shandong University(Engineering Science), 2005, 35(3):58-62.
[18] 邹涛,孙浩杰.一种多变量预测控制的分程控制策略实现方法[J].控制与决策,2017,32(4):746-750. ZOU Tao, SUN Haojie. An implementation of split control strategy for multi-variable predictive control[J]. Control and Decision, 2017, 32(4):746-750.
[19] 刘卉,张广明,欧阳慧珉.基于模型预测控制的轨迹跟踪算法研究[J].控制工程,2016, 23(s1):61-65. LIU Hui, ZHANG Guangming, OUYANG Huimin. Trajectory tracking algorithm based on model predictive control[J]. Control Engineering of China, 2016, 23(s1): 61-65.
[20] 李波,张瑾,李国栋.排爆机器人机械臂控制系统设[J].机电工程,2015, 32(8): 1110-1114. LI Bo, ZHANG Jin, LI Guodong. Design of EOD robot manipulator control system[J].Journal of Mechanical & Electrical Engineering, 2015, 32(8):1110-1114.
[1] ZHAO Hongzhuan, ZHANG Xin, ZHANG Beiling, ZHAN Xin, LI Wenyong, YUAN Quan, WANG Tao, ZHOU Dan. Adynamic safe elliptical path planning method for intelligent vehicles based on improved artificial potential field [J]. Journal of Shandong University(Engineering Science), 2025, 55(3): 46-57.
[2] WANG Shibo, SUN Shumin, CHENG Yan, ZHOU Guangqi, GUAN Yifei, LIU Yiyuan, ZHANG Zhiqian, ZHANG Zhenbin. A cooperative control strategy of integrated photovoltaic-energy storage system considering SOC security boundary [J]. Journal of Shandong University(Engineering Science), 2025, 55(2): 37-44.
[3] LIANG Qixing, LI Bin, LI Zhi, ZHANG Hui, RONG Xuewen, FAN Yong. Algorithm of adaptive slope adjustment of quadruped robot based on model predictive control and its application [J]. Journal of Shandong University(Engineering Science), 2021, 51(3): 37-44.
[4] Yujun WU,Wei WU,Yu GUO,Jian GUO. A force-based method for robot hole-searching and assembly [J]. Journal of Shandong University(Engineering Science), 2019, 49(5): 119-126.
[5] Qiang ZHANG. Motion control system design of multi-joint snake-like manipulator for nuclear environment [J]. Journal of Shandong University(Engineering Science), 2018, 48(6): 122-131.
[6] WANG Xiuqing, ZENG Hui, XIE Fei, LYU Feng. Fault diagnosis for manipulators based on Spiking neural networks [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2017, 47(5): 15-21.
[7] LIU Bin, SONG Rui, CHAI Hui. Buffering strategy for articulated legged robot based on virtual model control and acceleration planning [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2016, 46(6): 69-75.
[8] YANG Yuanhui, LI Guodong, WU Chunfu, WANG Xiaolong, CAI Xiaowei. Hand-eye calibration and visual servo control for mobile manipulator [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2016, 46(5): 54-63.
[9] TANG Qingshun, JIN Lu, LI Guodong, WU Chunfu. Robotic manipulators tracking control based on adaptive terminal sliding mode controller [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2016, 46(5): 45-53.
[10] WANG Ru-gui,CAI Gan-wei . Sub-harmonic resonance analysis of 2-DOF controllable plane linkage mechanism electromechanical coupling system [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2008, 38(3): 58-63 .
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
[1] LI Kan . Empolder and implement of the embedded weld control system[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2008, 38(4): 37 -41 .
[2] LAI Xiang . The global domain of attraction for a kind of MKdV equations[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(1): 87 -92 .
[3] YU Jia yuan1, TIAN Jin ting1, ZHU Qiang zhong2. Computational intelligence and its application in psychology[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(1): 1 -5 .
[4] CHEN Rui, LI Hongwei, TIAN Jing. The relationship between the number of magnetic poles and the bearing capacity of radial magnetic bearing[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2018, 48(2): 81 -85 .
[5] WANG Bo,WANG Ning-sheng . Automatic generation and combinatory optimization of disassembly sequence for mechanical-electric assembly[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(2): 52 -57 .
[6] ZHANG Ying,LANG Yongmei,ZHAO Yuxiao,ZHANG Jianda,QIAO Peng,LI Shanping . Research on technique of aerobic granular sludge cultivationby seeding EGSB anaerobic granular sludge[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(4): 56 -59 .
[7] Yue Khing Toh1， XIAO Wendong2， XIE Lihua1. Wireless sensor network for distributed target tracking: practices via real test bed development[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(1): 50 -56 .
[8] SUN Weiwei， WANG Yuzhen. Finite gain stabilization of singlemachine infinite bus system subject to saturation[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(1): 69 -76 .
[9] ZOU Feifei,GUAN Xiaojun,HAN Zhenqiang,SHEN Xiaomin,MA Xiaofei ,LIU Yunteng . hermal simulating experiment and FEM simulation of dynamic recrystallization of 09CuPTiRE steel[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(5): 17 -20 .
[10] SUN Yu-li,LI De-fa,ZUO Dun-wen,QI mei . [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(6): 19 -23 .
Copyright 2018 © Editorial office of Journal of Shandong University (Engineering Science)
Supported by Beijing Magtech Co.Ltd