建筑幕墙安装机器人的位置/力混合控制方法

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.