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End force tracking control algorithm of grinding robot based on model predictive control
Authors
刘哲
宋锐
邹涛
Publication date
1 January 2018
Publisher
Abstract
磨削机器人因其快速、高效的优点在工业磨削行业应用广泛。磨削机器人末端力控制与其磨削质量有着直接关系。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。给出了机械臂离散、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(DMC)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。最后采用实验仿真进行验证,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
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Shenyang Institute of Automation,Chinese Academy Of Sciences
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Last time updated on 18/04/2018