缝纫机器人对织物张力与位置的模糊阻抗控制

doi:10.13475/j.fzxb.20200605706

纺织学报 ›› 2021, Vol. 42 ›› Issue (11): 173-178.doi: 10.13475/j.fzxb.20200605706

缝纫机器人对织物张力与位置的模糊阻抗控制

王晓华(), 王育合, 张蕾, 王文杰

西安工程大学电子信息学院, 陕西西安 710048

收稿日期:2020-06-19 修回日期:2021-03-07 出版日期:2021-11-15 发布日期:2021-11-29
作者简介:王晓华(1972—),女,教授,博士。主要研究方向为机器人技术。E-mail: wangxiaohua@xpu.edu.cn。
基金资助:
国家自然科学基金项目(51905405);教育部工程科技人才培养研究项目(18JDGC029);陕西省重点研发计划项目(2019ZDLGY01-08);陕西省教育厅自然科学专项项目(19JK0375)

Force and position fuzzy impedance control of a sewing robot

WANG Xiaohua(), WANG Yuhe, ZHANG Lei, WANG Wenjie

College of Electronics and Information, Xi'an Polytechnic University, Xi'an, Shaanxi 710048, China

Received:2020-06-19 Revised:2021-03-07 Published:2021-11-15 Online:2021-11-29

摘要/Abstract

摘要：

为解决缝纫机器人末端执行器在按压织物滑动前行和按压织物缝纫时需要保证织物不起褶皱且缝纫轨迹针脚均匀的问题,采用模糊阻抗控制方法对机器人末端位置以及机器人末端与织物接触力的同时控制。建立缝纫机器人实际缝纫系统模型,采取将机器人末端按压织物的力与按压位置进行力/位阻抗控制的策略,并根据模糊规则选取了缝纫系统最优阻抗参数。实验结果表明:模糊阻抗控制方法能够实现机器人操作织物的位置和机器人末端按压织物操作力之间的动态平衡,能够在保证机器人各关节平稳运动的基础上实现缝纫时接触力和位置的同时控制要求。

关键词: 缝纫机器人, 缝纫系统, 模糊阻抗控制, 接触力, 按压位置

Abstract:

The end-effector of a sewing robot needs constant force when pressing the fabric for forward movement and sewing so as to ensure wrinkle free in fabrics and uniform sewing track,the fuzzy impedance control method was used to control simultaneously the robot end position and the contact force between the robot end and the fabric. According to the actual sewing task of the sewing robot, the system model was established, and the force/impedance control strategy was adopted to control the force and position of the robot's end press on the fabric, and the optimal impedance parameters of the sewing system were selected according to fuzzy rules. The dynamic balance between the position of the robot operating the fabric and the operating force pressing the fabric at the end of the robot was established, and the simultaneous control requirements of the contact force and position during sewing achieved on the basis of ensuring the smooth movement of each joint of the robot.

Key words: sewing robot, sewing system, fuzzy impedance control, contact force, press position

中图分类号:

TP242

王晓华, 王育合, 张蕾, 王文杰. 缝纫机器人对织物张力与位置的模糊阻抗控制[J]. 纺织学报, 2021, 42(11): 173-178.

WANG Xiaohua, WANG Yuhe, ZHANG Lei, WANG Wenjie. Force and position fuzzy impedance control of a sewing robot[J]. Journal of Textile Research, 2021, 42(11): 173-178.

图/表 9

图1

图2

图3

表1

图4

图5

图6

图7

图8

参考文献 12

[1]	丁敏. 缝纫机器人带来的机遇和挑战[J]. 中国纤检, 2018(2):124-125.
	DING Min. Opportunities and challenges brought by sewing robots[J]. China Fiber Inspection, 2018(2):124-125.
[2]	PANAGIOTIS N, KOUSTOUMPARDIS N, NIKOS A. Intelligent hierarchical robot control for sewing fabrics[J]. Robotics and Computer Integrated Manufacturing, 2014(30):34-46.
[3]	高强, 潘俊, 李震. 面向软面料自主抓取的机器人视觉检测与定位[J]. 计算机测量与控制, 2019, 27(7):20-24.
	GAO Qiang, PAN Jun, LI Zhen. Visual detection and localization of robots' grasps automatically on soft fabric[J]. Computer Measurement & Control, 2019, 27(7):20-24.
[4]	MARIOLIS I G, DERMATAS E S. Automated assessment of textile seam quality based on surface roughness estimation[J]. Journal of The Textile Institute, 2010, 101(7):653-659. doi: 10.1080/00405000902732883
[5]	KOUSTOUMPARDIS P N, ASPRAGATHOS N A. Fuzzy logic decision mechanism combined with a neuro-controller for fabric tension in robotized sewing process[J]. Journal of Intelligent & Robotic Systems Theory & Applications, 2003, 36(1):65-88.
[6]	DIMITRA T, PANAGIOTIS N, KOUSTOUMPARDIS, et al. Model reference fuzzy learning force control for robotized sewing [C]//19th Mediterranean Conference on Control and Automation. Corfu: IEEE, 2011: 1460-1465.
[7]	SHIRIN Y, JUAN D, THOMAS B. Trajectory adaptation for an impedance controlled cooperative robot according to an operator's force[J]. Automation in Construction, 2019, 103:213-220. doi: 10.1016/j.autcon.2019.01.006
[8]	LU X, ZHAO Y, LIU M. Self-learning interval type-2 fuzzy neural network controllers for trajectory control of a delta parallel robot[J]. Neurocomputing, 2018, 28(3):107-119. doi: 10.1016/S0925-2312(98)00118-0
[9]	JOHANNES S, MAGNUS B, GEIR M. Velocity coordination and corner matching in a multi-robot sewing cell [C]//IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2014). Chicago: IEEE, 2014: 4476-4481.
[10]	KUDO M, NASU Y, MITOBE K, et al. Multi-arm robot control system for manipulation of flexible materials in sewing operation[J]. Mechatronics, 2000, 103:371-402.
[11]	张建军, 刘卫东, 李乐, 等. 未知环境下水下机械手智能抓取的自适应阻抗控制[J]. 上海交通大学学报, 2019, 53(3):341-347.
	ZHANG Jianjun, LIU Weidong, LI Le, et al. Adaptive impedance control for underwater manipulator intelligent grasping in unknown environment[J]. Journal of Shanghai Jiaotong University, 2019, 53(3):341-347.
[12]	杨贻俊, 侯明. 基于模糊微分先行PID的直线电机控制研究[J]. 电工技术, 2019(18):3-6.
	YANG Yijun, HOU Ming. Research on linear motor control based on fuzzy differential forward PID[J]. Electric Engineering, 2019(18):3-6.

Metrics

Viewed

Full text

Abstract

Cited

Shared

Discussed

本文评价

推荐阅读 10

[1]	曹建达;顾小军;殷联甫. 用BP神经网络预测棉织物的手感[J]. 纺织学报, 2003, 24(06): 35 -36 .
[2]	【作者单位】：中国纺织工程学会秘书处【分类号】：+【DOI】：cnki:ISSN:0-.0.00-0-0【正文快照】：　　香港桑麻基金会设立的“桑麻纺织科技奖” 0 0 年提名推荐工作;在纺织方面院士;专家和有关单位的大力支持下;收到了个单位 (人 )推荐的位候选人的. 2003年桑麻纺织科技奖获奖名单[J]. 纺织学报, 2003, 24(06): 107 .
[3]	【分类号】：Z【DOI】：cnki:ISSN:0-.0.00-0-0【正文快照】：　　一;纺　纱模糊控制纺纱张力的研究周光茜等 ( - )………………原棉含杂与除杂效果评价方法的研究于永玲 ( - )……网络长丝纱免浆免捻功能的结构表征方法李栋高等 ( - )……………. 2003年纺织学报第二十四卷总目次[J]. 纺织学报, 2003, 24(06): 109 -620 .
[4]	张治国;尹红;陈志荣. 纤维前处理用精练助剂研究进展[J]. 纺织学报, 2004, 25(02): 105 -107 .
[5]	秦元春. 纺织工业发展方向初探[J]. 纺织学报, 2004, 25(02): 108 -110 .
[6]	高伟江;魏文斌. 纺织业发展的战略取向——从比较优势到竞争优势[J]. 纺织学报, 2004, 25(02): 111 -113 .
[7]	史途停;陈建勇. 入世后中国纺织业的发展趋势及对策[J]. 纺织学报, 2004, 25(02): 114 -115 .
[8]	刘从九. 我国纺织品绿色国际竞争力[J]. 纺织学报, 2004, 25(02): 116 -118 .
[9]	冯宪. 漫谈未来服装的发展方向[J]. 纺织学报, 2004, 25(02): 119 -120 .
[10]	姚玉元;陈文兴;张利;潘勇. 催化氧化型消臭蚕丝纤维的研究[J]. 纺织学报, 2004, 25(03): 7 -8 .

e	ec
e	NB	NM	NS	Z	PS	PM	PB
NB	PB	PB	PM	PM	PS	Z	Z
NM	PB	PB	PM	PS	PS	Z	NS
NS	PM	PM	PM	PS	Z	NS	NS
Z	PM	PM	PS	Z	NS	NM	NM
PS	PS	PS	Z	NS	NS	NM	NM
PM	PS	Z	NS	NM	NM	NM	NB
PB	Z	Z	NM	NM	NM	NB	NB

缝纫机器人对织物张力与位置的模糊阻抗控制

Force and position fuzzy impedance control of a sewing robot

RichHTML

PDF (PC)

摘要/Abstract

引用本文

使用本文

图/表 9

参考文献 12

相关文章 2

Metrics

本文评价

推荐阅读 10

e	ec
e	NB	NM	NS	Z	PS	PM	PB
NB	PB	PB	PM	PM	PS	Z	Z
NM	PB	PB	PM	PS	PS	Z	NS
NS	PM	PM	PM	PS	Z	NS	NS
Z	PM	PM	PS	Z	NS	NM	NM
PS	PS	PS	Z	NS	NS	NM	NM
PM	PS	Z	NS	NM	NM	NM	NB
PB	Z	Z	NM	NM	NM	NB	NB

[1]	王晓华, 姚炜铭, 王文杰, 张蕾, 李鹏飞. 基于改进YOLO深度卷积神经网络的缝纫手势检测[J]. 纺织学报, 2020, 41(04): 142-148.
[2]	徐磊;王瑞;张淑洁. Ni-Ti形状记忆合金纤维相变的电阻特性[J]. 纺织学报, 2010, 31(3): 15-19.

e	ec
e	NB	NM	NS	Z	PS	PM	PB
NB	PB	PB	PM	PM	PS	Z	Z
NM	PB	PB	PM	PS	PS	Z	NS
NS	PM	PM	PM	PS	Z	NS	NS
Z	PM	PM	PS	Z	NS	NM	NM
PS	PS	PS	Z	NS	NS	NM	NM
PM	PS	Z	NS	NM	NM	NM	NB
PB	Z	Z	NM	NM	NM	NB	NB

e	ec
e	NB	NM	NS	Z	PS	PM	PB
NB	PB	PB	PM	PM	PS	Z	Z
NM	PB	PB	PM	PS	PS	Z	NS
NS	PM	PM	PM	PS	Z	NS	NS
Z	PM	PM	PS	Z	NS	NM	NM
PS	PS	PS	Z	NS	NS	NM	NM
PM	PS	Z	NS	NM	NM	NM	NB
PB	Z	Z	NM	NM	NM	NB	NB