Self-adjusting force/bit blending control based on quantitative factor-scale factor fuzzy-PID bit control
Juntong Yun, Ying Sun, Cuiqiao Li, Du Jiang, Bo Tao, Gongfa Li, Ying Liu, Baojia Chen, Xiliang Tong, Manman Xu
Abstract
In order to improve the operation performance and environmental adaptability of the manipulator, it is essential to control the position and force of the manipulator simultaneously. This paper proposed a hybrid control method of auto-dynamic bit based on bit control to realize flexible grasping of manipulator in unknown environment. The constraint conditions and control types of the hybrid force/bit control are analyzed firstly, and the dynamic model when contacting with the environment is established. Then, an improved position controller based on conventional fuzzy-PID control strategy is introduced to realize the hybrid force/bit control based on the position control by combining constraint estimation method and impedance force control. Finally, the control performance of the force/bit hybrid controller is verified by simulation experiments. The results show that the designed control strategy has relatively ideal force control precision and higher trajectory tracking ability, and the manipulator model has better compliance.