基于LuGre模型的机器人气动末端执行器自适应摩擦补偿控制

IF 1.9 4区 计算机科学 Q3 ENGINEERING, INDUSTRIAL Industrial Robot-The International Journal of Robotics Research and Application Pub Date : 2023-05-19 DOI:10.1108/ir-01-2023-0010
Shijie Dai, S. Li, Wenbin Ji, Ruiqin Wang, Shuyuan Liu
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引用次数: 1

摘要

摘要针对气动末端机器人对航空发动机叶片进行自动抛光过程中气缸活塞摩擦引起的系统响应滞后和粘性滑移振荡,提出了一种具有自适应摩擦补偿的恒力控制方法。首先,基于连续LuGre模型建立气动末端执行器的数学模型,并对LuGre模型的静态参数进行辨识,验证了摩擦补偿的必要性。其次,针对LuGre模型中动态参数辨识困难和内部状态不可测的问题,设计了参数自适应律和摩擦状态观测器来在线估计这些参数;最后,设计了自适应摩擦补偿反步控制器,提高了系统的响应速度和抛光力控制精度。仿真和实验结果表明,与比例积分微分、基于扩展状态观测器的自抗扰控制器和积分滑模控制器相比,该方法能快速有效地抑制非线性摩擦引起的抛光力波动,显著提高叶片质量。研究了基于LuGre摩擦模型的反步控制与摩擦自适应补偿相结合的气动力控制方法,有效抑制了法向抛光力的波动。
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Adaptive friction compensation control of robotic pneumatic end-effector based on LuGre model
Purpose Considering the response lag and viscous slip oscillation of the system caused by cylinder piston friction during automatic polishing of aero-engine blades by a robotic pneumatic end-effector, the purpose of this study is to propose a constant force control method with adaptive friction compensation. Design/methodology/approach First, the mathematical model of the pneumatic end-effector is established based on the continuous LuGre model, and the static parameters of the LuGre model are identified to verify the necessity of friction compensation. Second, aiming at the problems of difficult identification of dynamic parameters and unmeasurable internal states in the LuGre model, the parameter adaptive law and friction state observer are designed to estimate these parameters online. Finally, an adaptive friction compensation backstepping controller is designed to improve the response speed and polishing force control accuracy of the system. Findings Simulation and experimental results show that, compared with proportion integration differentiation, extended state observer-based active disturbance rejection controller and integral sliding mode controller, the proposed method can quickly and effectively suppress the polishing force fluctuation caused by nonlinear friction and significantly improve the blade quality. Originality/value The pneumatic force control method combining backstepping control with the friction adaptive compensation based on LuGre friction model is studied, which effectively suppresses the fluctuation of normal polishing force.
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来源期刊
CiteScore
4.50
自引率
16.70%
发文量
86
审稿时长
5.7 months
期刊介绍: Industrial Robot publishes peer reviewed research articles, technology reviews and specially commissioned case studies. Each issue includes high quality content covering all aspects of robotic technology, and reflecting the most interesting and strategically important research and development activities from around the world. The journal’s policy of not publishing work that has only been tested in simulation means that only the very best and most practical research articles are included. This ensures that the material that is published has real relevance and value for commercial manufacturing and research organizations. Industrial Robot''s coverage includes, but is not restricted to: Automatic assembly Flexible manufacturing Programming optimisation Simulation and offline programming Service robots Autonomous robots Swarm intelligence Humanoid robots Prosthetics and exoskeletons Machine intelligence Military robots Underwater and aerial robots Cooperative robots Flexible grippers and tactile sensing Robot vision Teleoperation Mobile robots Search and rescue robots Robot welding Collision avoidance Robotic machining Surgical robots Call for Papers 2020 AI for Autonomous Unmanned Systems Agricultural Robot Brain-Computer Interfaces for Human-Robot Interaction Cooperative Robots Robots for Environmental Monitoring Rehabilitation Robots Wearable Robotics/Exoskeletons.
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