The Control Method of Force Loading of Robot on Load Transfer Mechanism of Space Station
| Autor: | Liu Mingyang, Xinlin Bai, Xiao Zhang, Wang Junyi, Zhigang Xu |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Admittance Settling time Computer science 02 engineering and technology law.invention Computer Science::Robotics Tracking error 020901 industrial engineering & automation law Control theory Position (vector) Control system 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing Cartesian coordinate system |
| Zdroj: | ICCA |
| Popis: | when the robot loads force on space station transfer mechanism, there exist some issues such as unstable robot force control system, insufficient load accuracy, and long settling time. To solve these problems, a strategy for adjusting the admittance controller parameters adaptively is proposed. Firstly, the relationship between force and position is established according to the admittance control theory. And a force tracking/force loading controller based on the rectangular coordinate system is initially designed. Then, the parameters of the load transfer mechanism model are identified based on the loading experiment data by the least square method, and the relationship between force and position of robot in specific workspace is established. Finally, the parameters of the admittance controller are adaptively adjusted to make the robot dynamics model approximately match with the dynamic model of the load transfer mechanism. The real-time spatial loading force imposed by the robot on the end of the load transfer mechanism after spreading is realized. The experiment shows that the tracking error of the robot relative to the load transfer mechanism is less than 0.1 mm, and the loading force error is less than 1%, and the robot meets the requirement and provides a real equivalent space load for the space station transfer mechanism. |
| Databáze: | OpenAIRE |
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