气动轻量型机械臂伺服控制系统和碰撞检测方法研究
|
摘要
针对服务型机器人对系统的柔性、安全性提出的高要求,开展了气压驱动轻量型机械臂的伺服控制系统和碰撞检测方法研究。设计制作了二自由度轻量型机械臂样机,建立了机械臂的运动学和动力学方程,对系统的摩擦力矩进行了辨识。采用PID与加速度反馈和摩擦力前馈补偿控制策略,解决了机械臂关节旋转过程中的低速爬行问题。研究了基于被动柔顺控制和动力学方程的碰撞检测方法,实现了机械臂的防碰撞功能,提高了系统的安全性。通过对实验样机的试验测试,验证了机械臂的位置伺服控制策略和碰撞检测方法的有效性。
Aiming at high requirements of service robot on system flexibility and security, we carry out a study of servo control system and collision detection method of light-weight mechanical arm driven by air pressure. And then we design and manufacture a 2-DOF lightweight mechanical arm prototype, and establish kinematics and dynamics equations of mechanical arm and identify friction moment of the system. By using PID and acceleration feedback and friction feed-forward compensation control strategy, we solve the problem of slow crawl during rotation of mechanical arm joints. Also, we study the collision detection method based on passive compliance control and dynamic equation and realize anti-collision function of the mechanical arm and improve the safety of the system. Finally, we verify the effectiveness of position servo control strategy and collision detection method of mechanical arm through the test of experimental prototype.
Aiming at high requirements of service robot on system flexibility and security, we carry out a study of servo control system and collision detection method of light-weight mechanical arm driven by air pressure. And then we design and manufacture a 2-DOF lightweight mechanical arm prototype, and establish kinematics and dynamics equations of mechanical arm and identify friction moment of the system. By using PID and acceleration feedback and friction feed-forward compensation control strategy, we solve the problem of slow crawl during rotation of mechanical arm joints. Also, we study the collision detection method based on passive compliance control and dynamic equation and realize anti-collision function of the mechanical arm and improve the safety of the system. Finally, we verify the effectiveness of position servo control strategy and collision detection method of mechanical arm through the test of experimental prototype.
引文
[1] 徐方,张希伟,杜振军.我国家庭服务机器人产业发展现状调研报告[J].机器人技术与应用,2009,(2):15-19. XU Fang, ZHANG Xiwei, DU Zhenjun. Research Report on the Development of Family Service Robot Industry in China [J]. Robot Technique and Application, 2009,(2):15-19.
[2] 边弘晔,何书龙,何元一,等.浅谈轻量化机械手发展前景[J].科技创新导报,2015,35:112-114. BIAN Hongye, HE Shulong, HE Yuanyi, et al. Prospects for Development of Lightweight Manipulator [J]. Science and Technology Innovation Herald, 2015,35:112-114.
[3] 李小宁,郭钟华.气动助力医疗康复技术的现状及发展趋势[J].机械制造与自动化,2012,41(3):1-5. LI Xiaoning, GUO Zhonghua. Application of Pneumatic Rehabilitation Technology and Contemporary Research Trend [J]. Machine Building & Automation, 2012,41(3):1-5.
[4] 毛新涛,包钢,杨庆俊,等.基于MATLAB/xPC的三自由度气动机械手控制系统的研究[J].液压与气动,2008,(1):24-26. MAO Xintao, BAO Gang, YANG Qingjun, et al. Research on Control System for a Pneumatic Robot with Three Degree of Freedom Based on MATLAB/xPC [J]. Chinese Hydraulics & Pneumatics, 2008,(1):24-26.
[5] 柏宗春,李小宁.摆动伺服气缸定位控制策略与实验研究[J].机床与液压,2014,23(42):80-83. BAI Zongchun, LI Xiaoning. Control Strategy and Experimental Research of Pneumatic Rotary Servo Cylinder [J]. Machine Tool & Hydraulics, 2014,23(42):80-83.
[6] 王飞,段振霞,刘建国,等.气动位置伺服控制系统设计与研究[J].现代制造工程,2017,(7):90-94. WANG Fei, DUAN Zhenxia, LIU Jianguo, et al. Design and Research of Cylinder Position Servo Control System [J]. Modern Manufacturing Engineering, 2017,(7):90-94.
[7] 张铁,林君健,邹炎飚.基于轨迹规划的机器人碰撞检测研究[J].机床与液压,2012,40(21):12-14. ZAHNG Tie, LIN Junjian, ZOU Yanbiao. Study on Collision Detection Based on Trajectory Planning [J]. Machine Tool & Hydraulics, 2012,40(21):12-14.
[8] 马志举,吴海彬.无外部传感器的机器人碰撞检测[J].测试技术学报,2013,27(3):254-259. MA Zhiju, WU Haibin. Sensorless Collision Detection for Robot Manipulator [J]. Journal of Test and Measurement Technology, 2013,27(3):254-259.
[9] 张义德.面向工业机器人仿真应用的碰撞检测研究[D].杭州:浙江大学,2016. ZHANG Yide. Collision Detection for Industrial Robot Simulation Applications [D]. Hangzhou: Zhejiang Univer-sity, 2016.
[10] 史得力.气压位置伺服系统摩擦力因素影响及抑制研究[D].哈尔滨:哈尔滨工业大学,2011. SHI Deli. Research on the Impact and Suppression of the Cylinder Friction in Pneumatic Position Servo System [D]. Harbin: Harbin Institute of Technology, 2011.
[11] 李龙晶,刘东,丛明.基于力矩误差的净化机器人碰撞检测技术[J].组合机床与自动化加工技术,2013,(12):75-78. LI Longjing, LIU Dong, CONG Ming. Collision Detection of Clean Robot Based on Torque Fault [J]. Modular Machine Tool & Automatic Manufacturing Technique, 2013,(12):75-78.
[12] 吴海彬,李实懿,吴国魁.基于动量偏差观测器的机器人碰撞检测算法[J].电机与控制学报,2015,5(19):97-104. WU Haibin, LI Shiyi, WU Guokui. Collision Detection Algorithm for Robot Manipulator Based on Momentum Deviation Observer [J]. Electric Machines and Control, 2015,5(19):97-104.
[13] 肖聚亮,田志伟,洪鹰,等.一种轻型模块化协作机器人碰撞检测算法[J].天津大学学报(自然科学与工程技术版),2017,11(50):1140-1147. XIAO Juliang, TIAN Zhiwei, HONG Ying, et al. Collision Detection Algorithm for Light and Modular Cooperative Robots [J]. Journal of Tianjin University (Science and Technology Edition), 2017,11(50):1140-1147.
[14] LEE S D, KIM M C, SONG J B. Sensorless Collision Detection for Safe Human-robot Collaboration [C]. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems. Hamburg, Germany, 2015:2392-2397.
[2] 边弘晔,何书龙,何元一,等.浅谈轻量化机械手发展前景[J].科技创新导报,2015,35:112-114. BIAN Hongye, HE Shulong, HE Yuanyi, et al. Prospects for Development of Lightweight Manipulator [J]. Science and Technology Innovation Herald, 2015,35:112-114.
[3] 李小宁,郭钟华.气动助力医疗康复技术的现状及发展趋势[J].机械制造与自动化,2012,41(3):1-5. LI Xiaoning, GUO Zhonghua. Application of Pneumatic Rehabilitation Technology and Contemporary Research Trend [J]. Machine Building & Automation, 2012,41(3):1-5.
[4] 毛新涛,包钢,杨庆俊,等.基于MATLAB/xPC的三自由度气动机械手控制系统的研究[J].液压与气动,2008,(1):24-26. MAO Xintao, BAO Gang, YANG Qingjun, et al. Research on Control System for a Pneumatic Robot with Three Degree of Freedom Based on MATLAB/xPC [J]. Chinese Hydraulics & Pneumatics, 2008,(1):24-26.
[5] 柏宗春,李小宁.摆动伺服气缸定位控制策略与实验研究[J].机床与液压,2014,23(42):80-83. BAI Zongchun, LI Xiaoning. Control Strategy and Experimental Research of Pneumatic Rotary Servo Cylinder [J]. Machine Tool & Hydraulics, 2014,23(42):80-83.
[6] 王飞,段振霞,刘建国,等.气动位置伺服控制系统设计与研究[J].现代制造工程,2017,(7):90-94. WANG Fei, DUAN Zhenxia, LIU Jianguo, et al. Design and Research of Cylinder Position Servo Control System [J]. Modern Manufacturing Engineering, 2017,(7):90-94.
[7] 张铁,林君健,邹炎飚.基于轨迹规划的机器人碰撞检测研究[J].机床与液压,2012,40(21):12-14. ZAHNG Tie, LIN Junjian, ZOU Yanbiao. Study on Collision Detection Based on Trajectory Planning [J]. Machine Tool & Hydraulics, 2012,40(21):12-14.
[8] 马志举,吴海彬.无外部传感器的机器人碰撞检测[J].测试技术学报,2013,27(3):254-259. MA Zhiju, WU Haibin. Sensorless Collision Detection for Robot Manipulator [J]. Journal of Test and Measurement Technology, 2013,27(3):254-259.
[9] 张义德.面向工业机器人仿真应用的碰撞检测研究[D].杭州:浙江大学,2016. ZHANG Yide. Collision Detection for Industrial Robot Simulation Applications [D]. Hangzhou: Zhejiang Univer-sity, 2016.
[10] 史得力.气压位置伺服系统摩擦力因素影响及抑制研究[D].哈尔滨:哈尔滨工业大学,2011. SHI Deli. Research on the Impact and Suppression of the Cylinder Friction in Pneumatic Position Servo System [D]. Harbin: Harbin Institute of Technology, 2011.
[11] 李龙晶,刘东,丛明.基于力矩误差的净化机器人碰撞检测技术[J].组合机床与自动化加工技术,2013,(12):75-78. LI Longjing, LIU Dong, CONG Ming. Collision Detection of Clean Robot Based on Torque Fault [J]. Modular Machine Tool & Automatic Manufacturing Technique, 2013,(12):75-78.
[12] 吴海彬,李实懿,吴国魁.基于动量偏差观测器的机器人碰撞检测算法[J].电机与控制学报,2015,5(19):97-104. WU Haibin, LI Shiyi, WU Guokui. Collision Detection Algorithm for Robot Manipulator Based on Momentum Deviation Observer [J]. Electric Machines and Control, 2015,5(19):97-104.
[13] 肖聚亮,田志伟,洪鹰,等.一种轻型模块化协作机器人碰撞检测算法[J].天津大学学报(自然科学与工程技术版),2017,11(50):1140-1147. XIAO Juliang, TIAN Zhiwei, HONG Ying, et al. Collision Detection Algorithm for Light and Modular Cooperative Robots [J]. Journal of Tianjin University (Science and Technology Edition), 2017,11(50):1140-1147.
[14] LEE S D, KIM M C, SONG J B. Sensorless Collision Detection for Safe Human-robot Collaboration [C]. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems. Hamburg, Germany, 2015:2392-2397.