Abstract:  Aiming at the problems of the robot motion  along slot  was constrained by the combination of multi-directional positions and forces， a force and position hybrid guidance strategy was proposed， and an ADRC was designed based on the impedance model to optimize the force control loop of the strategy. Then， the ADRC was improved based on the double fuzzy structure， and a switching variable universe fuzzy ADRC was obtained， so as to enhance the adaptability of the industrial robots to the unknown environment in the hybrid control of force and position. Finally， the performance of the proposed algorithm was simulated， and the experiments were carried out by taking the parallel slot assembly of mobile phone RF(radio frequency) line as an example. Simulation and experimental results show that compared with the general control method， the proposed control strategy has better force and position hybrid control performance， and may be better applied to the along slot motion of industrial robots.

Key words: industrial robot, motion along slot, force and position hybrid control, automatic disturbance rejection controller(ADRC), variable universe fuzzy control

摘要： 针对工业机器人顺槽运动时受到多方向位置与力的混合约束问题，提出一种力位混合导向策略，并基于阻抗模型设计自抗扰控制器（ADRC）对该策略的力控制回路进行优化。在此基础上，基于双模糊结构对ADRC进行改进，得到一种开关式变论域模糊ADRC，以此增强工业机器人在进行力位混合控制时对未知环境的适应能力。最后，对所提出的算法进行性能仿真，并以手机射频线的顺槽装配为例进行实验。仿真和实验结果表明，相对于常规的控制方法，所提出的控制策略具备更加良好的力位混合控制性能，能够更好地应用于工业机器人的顺槽运动控制。

关键词: 工业机器人, 顺槽运动, 力位混合控制器, 自抗扰控制器, 变论域模糊控制