作者：唐振山, 陈伟海

作者单位：北京航空航天大学自动化科学与电气工程学院, 北京 100191

关键词：力/位混合控制; 绳驱动; 阻抗控制; 轨迹规划; 腕力传感器

摘要：

该文在研究7-DOF绳驱动拟人臂运动控制的基础上,结合安装在关节处的角度传感器的反馈信息,提出一种改进的耦合球关节闭环控制算法,使拟人臂的运动精度大大提高;同时利用安装在末端的腕力传感器的反馈信息,提出一种基于阻抗控制的力位混合控制算法,并讨论了容易建模和不易建模的两种环境下的轨迹规划问题,结合PC+PMAC分级控制系统和上面两种算法完成了7-DOF拟人臂的高精度位置伺服控制和与外界环境的接触力控制。实验和仿真结果表明算法的正确性和控制的有效性。

Control hybrid position/force of cable-driven robotic arm with wrist force sensors

TANG Zhen-shan, CHEN Wei-hai

School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China

Abstract: This paper studies motion control of a 7-DOF cable-driven robotic arm. With the feedback of angle sensors which are installed on the joints, an improved close-loop control algorithm is proposed to make the movement accuracy of the robotic arm much better. With the information from wrist force sensors installed on the end of arm, the authors put forward an impendence-control method which simultaneously controls the position and the interact force with environment, and take about the path plan problem in two situations, i.e., easily modeling and hardly modeling. With the mentioned algorithm and the PC+PMAC multi-level control system, the authors efficiently control the position and the interact force with environment for the 7-DOF robotic arm. Experiment and simulation results indicate the correctness and effectiveness of the proposed algorithms.

Keywords: hybrid position/force control; cable-driven robot; impendence control; path plan; F/T sensor

2012, 38(4): 1-5  收稿日期: 2011-11-8;收到修改稿日期: 2012-1-7

基金项目: 国家自然科学基金项目(50875011)

作者简介: 唐振山(1986-),男,河北沧州市人,硕士研究生,专业方向为嵌入式操作系统、检测控制等。

参考文献

[1] 陈泉柱. 绳驱动拟人臂机器人的机构设计与运动学研究[D]. 北京:北京航空航天大学,2006.
[2] 王洪光,赵明扬,郭立新,等. 一种柔索驱动并联机构及其运动学分析[J]. 机器人,2002,24(7):634-636.
[3] Hogan N. Impedance control, an approach to manipulation[C]∥American Control Conference.1984:304-314.
[4] John J. Craig,贠超. 机器人学导论[M]. 3版. 北京:机械工业出版社,2006:136-150.
[5] Fusaomi Nagata, Tetsuo Hase, Zenku Haga, et al.Watanabe CAD/CAM based position/force controller for a mold polishing robot[J]. Mechatronics,2007(17):207-216.
[6] 乔兵,吴洪涛,朱建英,等. 面向位控机器人的力/位混合控制[J]. 机器人,1999,21(7):7.
[7] Yu K G, Kieffer J. Robotic force velocity control for following unknown contours, of granular materials[J]. Control Engineering Practice,1999(7):1249-1256.
[8] Burdet E, Rey L, Codourey A. A trivial and efficient learning method for motion and force control[J]. Engineering Applications of Artificial Intelligence,2001(14):487-496.