Abstract
Considering the wire core which is easily damaged because of the instability of the power distribution robot during the process of peeling the insulation layer, we have proposed a cutting force tracking control algorithm based on impedance control that is suitable for the end peeling instrument. At present, the task requirement of sudden changes about environment stiffness cannot be accomplished by many impedance control approaches due to the complexity of working environment stiffness about power distribution robot; then, the Recursive Least Square (RLS) method was introduced into the impedance control algorithm to identify the cable insulation layer and cable core stiffness online to achieve accurate and stable tracking of the cutting force. Furthermore, the impedance control of peeling cable insulation layer and the proposed RLS method were simulated and tested contrastively, and the high-voltage cable peeling experiment was performed. The results of simulation and experiment showed that the force control algorithm based on RLS parameter identification still has good force tracking performance during the environment stiffness changes suddenly, and the steady-state error approaches zero, demonstrating the feasibility and effectiveness of the RLS impedance control algorithm, which has important practical significance for improving power distribution efficiency.
Highlights
2.1. e Structure Design of End Peeler
Compared with the complicated and bulky structure of end peeler designed by scientific researchers over the past, the peeler designed in this paper is more flexible and compact, its structure is composed of a cable clamping motor, cable clamping block, and cutting blade, as shown in Figure 1, the inner surface of the clamping block is equipped with oblique thread, a cutting blade is mounted on one side, and the clamping motor rotates forward or backward to separate or close the clamping device
When the end effector of the power distribution robot is in contact with the environment, to accurately measure the contact force, we must rely on full cognizance to the environmental stiffness which cannot be measured directly, so we need to obtain the environment stiffness through an indirect method. e Recursive Least Square (RLS) algorithm is more and more used by virtual of its simple principle, a small amount of calculation, and online parameter identification [13,14,15], which can be effectively integrated with other control algorithms to improve performance [16], so we can use the iterative characteristics of the RLS algorithm to get the stiffness information of environment and further to get the best control effect approaching to ideal situation
Summary
2.1. e Structure Design of End Peeler. Compared with the complicated and bulky structure of end peeler designed by scientific researchers over the past, the peeler designed in this paper is more flexible and compact, its structure is composed of a cable clamping motor, cable clamping block, and cutting blade, as shown in Figure 1, the inner surface of the clamping block is equipped with oblique thread, a cutting blade is mounted on one side, and the clamping motor rotates forward or backward to separate or close the clamping device. E process in which the end peeler is cut into the wire insulation layer can be regarded as a one-dimensional situation, and the force tracking impedance controller can be designed as follows: mt x€ − x€r + bt x_ − x_r + kt x − xr f − fr. Combining equation (9), we can see that when we know the initial contact position xe and the wire stiffness value ke, the force deviation can be made to be zero, in which ke can be estimated by experiment or obtained through experience, and when xe xr, according to equation (2), we can know the natural frequency and damping ratio of the second-order system during the contact between end peeler and wire:. The desired cutting force is not affected by the position control error, which has strong robustness to the uncertainty of the system model and the disturbance of the contact force
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