| Citation: | LI Lin, XIAO Jiadong, ZHANG Tie, et al. Constant-force curved-surface-tracking with robotic manipulator based on adaptive iterative algorithm[J]. Journal of Beijing University of Aeronautics and Astronautics, 2019, 45(4): 641-649. doi: 10.13700/j.bh.1001-5965.2018.0441(in Chinese)
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This paper dealt with the fluctuation and instability of contact force that isgenerated between robot end-effector and environment during the process of robotic grinding, polishing and deburring. In order to obtain constant tracking force, the contact force is generated by robot end-effector onto the workpiece surface is analyzed and the mapping relationship between the contact force of robot end-effector in real contact conditions and the known sensor coordinate system was built. Meanwhile, a hybrid force/position control scheme based on adaptive iterative learning algorithm was proposed to compensate the robot end-effector trajectory offset. The control method is composed with two steps. An iterative learning control law was designed based on the impe-dance model of robot-environment in dynamic interaction task. This control law coped with the unknown parameters and disturbances by adding the iterative term to the PD feedback structure. Meanwhile, a Lyapunov energy function was designed to prove the convergence of the control law. The adaptive iterative learning control law was then combined with the force/position hybrid control method to design the constant-force curved-surface-tracking control scheme with robotic manipulator. The experimental results show that after 15 times iteration, the fluctuating range of contact force becomes small gradually and is within ±3 N, which illustrates the effectiveness of the designed control scheme.
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