基于Matlab机械臂力控系统仿真研究-计算机工程与应用.PDF

242 2014 ，50（12） Computer Engineering and Applications 计算机工程与应用 基于Matlab 机械臂力控系统仿真研究 1 1，2 1 1 覃海强 ，熊庆宇 ，石 欣 ，王 楷 1 1，2 1 1 QIN Haiqiang , XIONG Qingyu , SHI Xin , WANG Kai 1.重庆大学 自动化学院，重庆 400044 2.重庆大学 软件学院，重庆 400044 1.School of Automation, Chongqing University, Chongqing 400044, China 2.School of Software Engineering, Chongqing University, Chongqing 400044, China QIN Haiqiang, XIONG Qingyu, SHI Xin, et al. Simulation research of force control system for manipulator based on Matlab. Computer Engineering and Applications, 2014, 50 （12）：242-246. Abstract ：The position control of manipulator can ’t meet the application requirements of some complex tasks （assembly, polishing, deburring ）. The control of contact force between manipulator and environment is by far one of the topics of most active and continuing interest in the field of Robotics. A simulation method on force control system for 2-R planar manipulator based on Matlab/SimMechanics is proposed. By simulating the contact surface of manipulator with environ- ment in the plane, this paper designs the suppression controller, realizes the control of the contact force when manipulator interacts with environment, and the oscillation suppression in the phase of impact oscillation when manipulator interacts with rigid environment, generates the expected motion trajectory of manipulator. The simulation results show that the method can realize the control of contact force between manipulator and environment under a specific type of job. Key words ：manipulator; force control; contact force; simulation 摘 要：以位置控制为主的机械臂控制方法已不能满足某些复杂环境（装配、抛光、去毛刺）的应用要求，控制机械臂 与环境间的接触力已成为机器人学研究的一个热点。提出一种在Matlab/SimMechanics 环境下平面二自由度机械臂 力控制的仿真研究方法。在平面中模拟机械臂与环境的接触面，设计振荡抑制控制器，实现机械臂与环境间接触力 的控制，以及机械臂与刚性环境碰撞接触过程中冲击振荡阶段的振荡抑制，生成机械臂期望的运动轨迹。仿真结果 表明，该方法可实现特定作业下机械臂与环境间接触力的控制。 关键词：机械臂；力控制；接触力；仿真 文献标志码：A 中图分类号：TP24