建筑幕墙安装机器人的位置/力混合控制方法

胡河宇; 曹建福; 曹晔; 陶必荣

doi:10.7652/xjtuxb202201006

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建筑幕墙安装机器人的位置/力混合控制方法

专题控制策略 | 更新时间：2025-05-08

- 建筑幕墙安装机器人的位置/力混合控制方法
- Hybrid Position/Force Control Method for Slabstone-Installing Robot
- 西安交通大学学报 2022年56卷第1期页码：51-60
- 作者机构：
  
  西安交通大学机械制造系统工程国家重点实验室,西安,710049
- 作者简介：
- 基金信息：
  
  : 2021-04-29。作者简介: 胡河宇(1983—),男,博士生;曹建福(通信作者),男,教授,博士生导师。基金项目: 国家重点研发计划资助项目(2018YFB1306901)
- DOI：10.7652/xjtuxb202201006
  中图分类号： TP242.2
- 网络首发：2022-01-10，
  
  纸质出版：2022
- 稿件说明：
移动端阅览
胡河宇, 曹建福, 曹晔, 等. 建筑幕墙安装机器人的位置/力混合控制方法[J]. 西安交通大学学报, 2022,56(1):51-60.

Hybrid Position/Force Control Method for Slabstone-Installing Robot[J]. 2022, 56(1): 51-60.
胡河宇, 曹建福, 曹晔, 等. 建筑幕墙安装机器人的位置/力混合控制方法[J]. 西安交通大学学报, 2022,56(1):51-60. DOI： 10.7652/xjtuxb202201006.

Hybrid Position/Force Control Method for Slabstone-Installing Robot[J]. 2022, 56(1): 51-60. DOI： 10.7652/xjtuxb202201006.

摘要

针对建筑领域幕墙安装过程中所面临的幕墙质量变化、接触环境改变以及机器人动力学参数漂移等问题

提出了基于阻抗模型和自适应补偿的机器人位置/力混合控制方法。分析了幕墙受力

建立了幕墙与环境之间的接触力模型

获得了机器人-幕墙-接触环境的综合动力学方程; 为解决幕墙与环境接触时的力控制问题

在设计控制器时建立了幕墙位置与接触力之间的阻抗关系

同时通过李雅普诺夫稳定性理论构造了自适应控制器来补偿未知不确定项

使幕墙轨迹跟踪阻抗外环生成的参考轨迹。对不同任务时的幕墙安装过程进行多组仿真实验

结果表明:所提方法均能实现高精度的幕墙位置跟踪

误差精度小于0.2 mm

同时可以使幕墙与环境之间有稳定的接触力

并具有一定的鲁棒性。

Abstract

To solve the problems of slabstone installation in construction field

such as slabstone weight change

environmental contact change and robot dynamic parameter drift

a robot hybrid position/force control method based on impedance model and adaptive compensation is proposed. Analyzing the force on slabstone

the contact force model between the slabstone and the environment is established

and the comprehensive dynamic equation relating robot

slabstone and contact environment is obtained. Aiming at force control for the contact between the slabstone and the environment

the impedance relationship between the position and the contact force is taken into account during controller design

and an adaptive controller is constructed to compensate the unknown uncertainties following Lyapunov stability theory

therefore the slabstone is able to track the reference trajectory generated by the outer loop of impedance. Multiple groups of simulation experiments on slabstone installation process for different tasks show that the proposed method with certain robustness can realize high precision position tracking with error accuracy less than 0.2 mm

and obtain a stable contact force between the slabstone and the environment.

关键词

Keywords

references

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