摘 要
随着工业机器人应用领域的不断拓展，末端执行器的力控制精度已成为制约其性能提升的关键因素。本研究针对传统力控制方法存在的精度不足、响应滞后等问题，提出了一种基于自适应模糊滑模控制的力控制策略。通过建立末端执行器动力学模型，结合接触力反馈信息，设计了自适应模糊滑模控制器，有效解决了系统不确定性和外部干扰对控制精度的影响。实验结果表明，与传统PID控制和常规滑模控制相比，所提出的方法在稳态误差和动态响应特性方面均有显著改善，力控制精度提升了约35%，响应时间缩短了40%。研究创新性地将模糊逻辑与滑模控制相结合，实现了对系统参数变化的自适应调节，增强了系统的鲁棒性。
关键词：自适应模糊滑模控制 力控制精度 工业机器人
Abstract
With the continuous development of industrial robot application field, the force control accuracy of end-effector has become a key factor restricting its performance improvement. In this paper, a force control strategy based on adaptive fuzzy sliding mode control is proposed to solve the problems of insufficient precision and delayed response in traditional force control methods. An adaptive fuzzy sliding mode controller was designed by establishing the dynamic model of the end-effector and combining the feedback information of the contact force, which effectively solved the influence of system uncertainty and external interference on the control accuracy. The experimental results show that compared with the traditional PID control and the conventional sliding mode control, the proposed method has significant improvement in the steady-state error and dynamic response characteristics, the force control precision is increased by about 35%, and the response time is reduced by 40%. The research innovatively combines fuzzy logic and sliding mode control to realize the adaptive adjustment of system parameter changes and enhance the robustness of the system.
Keyword:Adaptive fuzzy sliding mode control Force control accuracy Industrial robot
目 录
1绪论 1
1.1研究背景及意义 1
1.2机器人末端执行器力控制技术研究现状 1
2末端执行器力控制系统的建模与分析 2
2.1末端执行器力学特性建模方法 2
2.2力控制系统动态特性分析 2
2.3影响控制精度的关键因素识别 3
3基于智能算法的力控制精度优化方法 3
3.1自适应模糊控制在力控制中的应用 4
3.2神经网络补偿器的设计与实现 4
3.3混合智能控制策略的性能评估 5
4实验验证与结果分析 5
4.1实验平台搭建与测试方案设计 5
4.2不同工况下的力控制精度测试 6
4.3实验结果分析与对比研究 6
5结论 7
参考文献 8
致谢 9
