Here,aiming at problems of high alignment accuracy,small operation stroke and large impact force in process of robot riveting with small-sized and low stiffness rivets,a robot riveting control method combining adaptive fuzzy sliding mode control and fuzzy impedance control was proposed.The robot riveting control process was divided into 2 stages of close alignment and pressing riveting.To realize rapid approach to rivet top and precise alignment between rivet joint and rivet axis,a fuzzy adaptive sliding mode controller with hyperbolic tangent function taken as switching function was designed to make the switching process smoother and sliding mode gain adaptively adjustable,thereby reduce system chattering and realize fast and accurate motion.Aiming at characteristics of small operation stroke and large impact force during pressing riveting stage,a damping adjustment fuzzy controller with contact force error and force increment taken as inputs was designed to reduce oscillation of damping parameters in impedance control process,and avoid rivet damage or riveting failure caused by excessive force loading.The simulation and test results showed that the position accuracy of the proposed control method is within 0.3mm,and its force contact has better stability,real-time performance and fastness;the proposed control method can meet requirements of riveting process specifications,and have reference significance for high-precision operation of riveting robots.
关键词
铆接机器人/轨迹跟踪/滑模控制/模糊控制/阻抗控制/位置与力控制
Key words
riveting robot/trajectory tracking/sliding mode control/fuzzy control/impedance control/position and force control
维普
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