| 方凯,杜浩森,刘福才.基于AGA-ADRC的机械臂末端力/位置控制[J].高技术通讯(中文),2025,35(11):1239~1249 |
| 基于AGA-ADRC的机械臂末端力/位置控制 |
| Force/position control for manipulator end based on AGA-ADRC |
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| DOI：10. 3772 / j. issn. 1002-0470. 2025. 11. 008 |
| 中文关键词: 工业机械臂； 力/位置控制； 改进型自抗扰控制方法； 自适应遗传算法； 阻抗控制 |
| 英文关键词: industrial robot arm, force/position control, improved active disturbance rejection control, adaptive genetic algorithm, impedance control |
| 基金项目: |
| 作者 | 单位 | | 方凯 | (燕山大学智能控制系统与智能装备教育部工程研究中心秦皇岛 066004)
(燕山大学工业计算机控制工程河北省重点实验室秦皇岛 066004) | | 杜浩森 | | | 刘福才 | |
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| 中文摘要: |
| 针对工业机械臂末端力/位置控制问题，提出了一种改进自抗扰控制方法(active disturbance rejection control，ADRC)，并采用自适应遗传算法(adaptive genetic algorithm，AGA)进行优化。首先，基于工业机械臂与零件接触时的阻抗模型设计ADRC控制器，对ADRC控制器的扩张状态观测器和非线性状态误差反馈控制律中的非线性函数进行改进，改进后的ADRC控制器表现出了较强的抗干扰能力。其次，由于ADRC控制器涉及的参数较多、经验法难以设置最佳参数，本文提出采用AGA来优化ADRC控制器的参数。改进型AGA-ADRC控制器经参数优化后，以二自由度机械臂模型为例，与传统ADRC控制器和粒子群算法(particle swarm optimization，PSO)优化的改进型ADRC控制器以及阻抗控制器进行仿真对比实验，实验结果验证了AGA-ADRC在工业机械臂末端力/位置控制方面的优势。 |
| 英文摘要: |
| Aiming at the force/position control problem of manipulator end,an improved active disturbance rejection control (ADRC) is proposed. Adaptive genetic algorithm (AGA) is used for optimization. Firstly, the ADRC controller is designed based on the impedance model of the industrial robot arm in contact with the part. The nonlinear function in the expanded state observer and nonlinear state error feedback control law of the ADRC controller is improved. The improved ADRC controller shows strong anti-interference ability. Secondly, due to the large number of parameters involved in ADRC controller, it is difficult to set the best parameters by empirical method, AGA is proposed in this paper to optimize the parameters of ADRC controller. After parameter optimization of the improved AGA-ADRC controller, taking the two-degree-of-freedom robot arm model as an example, compared with traditional ADRC controllers, improved ADRC controllers optimized by particle swarm optimization (PSO), and impedance controllers, simulation experiments are conducted to verify the advantages of AGA-ADRC in the end force/position control of industrial robotic arms. |
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