Study on Contact Force Control Based on Detection by Ultrasonic Sensors

摘要

A method is presented for a robot using ultrasonic sensors to detect control force in unknown working environment.Developing a structure model for the exploring system,the operation principle of ultrasonic detection system is described.Then,an HSIC(human-simulated intelligent control)method is developed and applied to the control of contact force in unknown environment,since the uncertainty,variability and unstructured property feature the surface contacting job between robot and environment.In the method the environmental information obtained by ultrasonic sensors is taken as the basis of the upper-layer control strategy,then the appropriate programs prepared in advance are selected according to the size and sign of the control error and its change rate.The experimental results show that this method greatly improves the control precision in comparison with PID control method.