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首页> 外文会议>International Conference on Mechanical Engineering and Mechanics vol.1; 20051026-28; Nanjing(CN) >Fuzzy Predictive Algorithm Applied to Impedance Control in Unknown Environment
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Fuzzy Predictive Algorithm Applied to Impedance Control in Unknown Environment

机译：模糊预测算法在未知环境中的阻抗控制

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摘要

An intelligent approach to predict the geometric parameters of the contact surface is developed to deal with a force-controlled execution in an unknown environment. The predictive algorithm is applied to an impedance controller. The position and the motion orientation of the contact point at past sampling time and current sampling time are calculated using the measured positions of robot joints. According to these data, the geometric parameters of contact surface in the future are predicted based on fuzzy reasoning. The developed predictive formula is composed of three kinds of predictive scale factors. The past prediction is evaluated in the predictive algorithm. The curvature change of the contact surface is also considered in the method. To ensure the predictive accuracy, the reference trajectory of the impedance controller is tuned by a reference scale factor, which depends on the contact force error and its change. The simulation results verify that the proposed fuzzy predictive method reveals better performance in terms of force control than the traditional force control methods.
机译：开发了一种智能方法来预测接触表面的几何参数，以处理未知环境中受力控制的执行。该预测算法被应用于阻抗控制器。使用机器人关节的测量位置计算过去采样时间和当前采样时间的接触点的位置和运动方向。根据这些数据，基于模糊推理对未来接触面的几何参数进行了预测。所开发的预测公式由三种预测比例因子组成。过去的预测在预测算法中进行评估。在该方法中还考虑了接触表面的曲率变化。为了确保预测精度，通过参考比例因子调整阻抗控制器的参考轨迹，该比例因子取决于接触力误差及其变化。仿真结果验证了所提出的模糊预测方法在力控制方面比传统的力控制方法具有更好的性能。

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