Nghiên cứu thiết kế bộ điều khiển lực cho cánh tay robot 3 bậc tự do dựa trên mô hình trở kháng
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Abstract
This paper presents a contact force control approach for a three-degree-of-freedom robotic manipulator based on impedance control. The proposed method combines a PID-based position controller to achieve accurate end-effector motion with a force control strategy that uses force sensor feedback to regulate contact forces during interaction. The resulting control structure improves interaction stability and is well suited for surface processing applications such as grinding and polishing. The effectiveness of the proposed approach is evaluated through MATLAB/Simulink simulations using a three-dimensional model implemented in the Simscape environment, as well as experimental tests conducted on a physical robotic manipulator. The force control performance is assessed using the root mean square error (RMSE) between the desired and measured contact forces. Simulation results show that the RMSE is below 0.25 N, while the experimental results range from approximately 1.0 N to 1.25 N, indicating stable operation and reliable force tracking under real operating conditions.
Tóm tắt
Phương pháp điều khiển lực tiếp xúc cho cánh tay robot ba bậc tự do dựa trên mô hình trở kháng đã được đề xuất trong nghiên cứu này. Cấu trúc điều khiển kết hợp bộ điều khiển vị trí vi tích phân tỉ lệ (PID) và bộ điều khiển lực sử dụng phản hồi từ cảm biến lực nhằm đảm bảo bám quỹ đạo và điều chỉnh lực tương tác ổn định, phù hợp cho các ứng dụng gia công bề mặt như mài và đánh bóng. Hiệu quả của phương pháp được kiểm chứng thông qua mô phỏng trên MATLAB/Simulink và thí nghiệm thực tế trên cánh tay robot. Hiệu suất điều khiển lực được đánh giá bằng chỉ tiêu sai số bình phương trung bình (RMSE) giữa lực đặt và lực tiếp xúc thực tế. Kết quả mô phỏng cho thấy RMSE lực dưới 0,25 N, trong khi kết quả thực nghiệm đạt khoảng từ 1,0 N đến 1,25 N. Mặc dù sai số thực nghiệm lớn hơn so với mô phỏng, bộ điều khiển đề xuất vẫn đảm bảo tính ổn định và khả năng bám lực tốt trong điều kiện làm việc thực tế.
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