Research on automatic control method of contact force impedance for warehouse logistics handling robots
In order to enable robots to adjust their impedance parameters in real-time based on changes in external environment and cargo status during the transportation process,and thereby achieve precise control of contact force,a research on automatic control method of contact force impedance for warehouse logistics handling robots is proposed.Design a location-based impedance control model for robots,using pressure sensors to obtain the actual contact force of the robot's end effector,which is used as input to the control function along with the expected contact force.Output the position correction a-mount through the function to correct the robot's target position,achieve smooth contact and accurate transportation between the robot and the environment.The experimental results show that this method has significant advantages in contact force and position control,and has strong anti-interference performance under environmental position changes.In addition,when the actual contact force differs significantly from the expected value,a smaller damping coefficient should be selected.When the contact force is near the expected value,increasing the damping coefficient has a better adaptive control effect on the damping co-efficient,achieving accurate automatic control of the contact force impedance of warehousing and logistics handling robots.
warehousing and logisticshandling robotscontact forceimpedance controlsmooth contactfuzzy controller
万方数据
维普
