Impedance control of grinding robot based on real-time optimization genetic algorithm

被引：2
|
作者：
Liu Z. [1 ,2 ,3 ]
Zou T. [1 ,2 ]
Sun W. [1 ,2 ]
Lu Y.-S. [1 ,2 ]
机构：
[1] Key Laboratory of Networked Control System of Chinese Academy of Sciences, Shenyang Institute of Automation of Chinese Academy of Sciences, Shenyang, 110016, Liaoning
[2] Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016, Liaoning
[3] University of Chinese Academy of Sciences, Beijing
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2018年 / 35卷 / 12期
基金：
中国国家自然科学基金;
关键词：
Force control of robot; Genetic algorithm; Grinding robot;
D O I：
10.7641/CTA.2018.80542
中图分类号：
学科分类号：
摘要：
Aiming at the problem of slow dynamic response during constant force tracking when the manipulator is in contact with the environment. In the research process, according to the comprehensive performance index of the response speed and control precision of the mechanical arm constant force tracking, the processing methods of the operator, such as the crossover, variation and calculation fitness value of the genetic algorithm in off line optimization, are improved, and the real-time optimization of control parameters for the impedance control is realized. The simulation results show that compared with the traditional control method, the method can improve the dynamic response speed of the mechanical arm and the environment contact force under the premise of ensuring the control precision, reduce the overshoot of the control process, and obtain better adjustment quality. © 2018, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.
引用
收藏
页码：1788 / 1795
页数：7
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