仿猿双臂手机器人连续摆荡移动优化与实验
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摘要
针对仿生悬摆机器人在连续移动过程中不能可靠抓握目标杆的问题,提出调整双手抓杆构形使势能最大、摆荡运动关节轨迹优化、大阻尼切换与大阻尼抓杆的分阶段控制策略.给出分阶段控制下各主动驱动关节PID控制器的期望目标关节轨迹计算公式和各阶段光滑运动的切换条件,利用ADAMS与MATLAB/Simulink软件进行仿猿双臂手机器人连续抓握不同间距目标杆的移动控制仿真.用自行研制的BARDAH-I型仿猿双臂手机器人分别进行了起始杆与中间杆间距1 m,中间杆与目标杆间距依次为0.5、0.6、0.7、0.8 m总计12次实验,实验成功率100%.实验结果证明所提出的控制方法能够有效提高仿猿双臂手机器人连续移动的成功率.
Regarding the problem that the bionic suspension pendulum robot can not grasp the target rod reliably in continuous brachiation process, we propose a staged control strategy, which includes an optimization method to maximize potential energy by adjusting the robot arms' configuration, a swinging motion optimization method, and a big damping switch and grasp method. For each motion stage, we deduce the desired trajectory of the PID controller of each active joint and the smooth switching condition. Simulations of continuous brachiation between bars with different distance are conducted in the ADAMS software and the MATLAB/Simulink software. Then brachiation experiments are conducted by using the BARDAH robot developed by our lab. In the experiments, the initial bar distance is 1 m and the target bar distance is respectively chosen from 0.5 m, 0.6 m, 0.7 m and 0.8 m. For each target bar distance, three experiments are repeated and the success rate of the total 12 brachiation experiments is 100%, which indicates that our control method can effectively improve the success rate of the robot continuous brachiation motion.
Regarding the problem that the bionic suspension pendulum robot can not grasp the target rod reliably in continuous brachiation process, we propose a staged control strategy, which includes an optimization method to maximize potential energy by adjusting the robot arms' configuration, a swinging motion optimization method, and a big damping switch and grasp method. For each motion stage, we deduce the desired trajectory of the PID controller of each active joint and the smooth switching condition. Simulations of continuous brachiation between bars with different distance are conducted in the ADAMS software and the MATLAB/Simulink software. Then brachiation experiments are conducted by using the BARDAH robot developed by our lab. In the experiments, the initial bar distance is 1 m and the target bar distance is respectively chosen from 0.5 m, 0.6 m, 0.7 m and 0.8 m. For each target bar distance, three experiments are repeated and the success rate of the total 12 brachiation experiments is 100%, which indicates that our control method can effectively improve the success rate of the robot continuous brachiation motion.
引文
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[6] SAITO F,FUKUDA T,ARAI F,et al.Heuristic generation of driving input and control of brachiation robot[J].JSME International Journal,1994,37(1):147.DOI:10.1299/jsmec1993.37.147
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[11]赵旖旎,程红太,张晓华.基于动态伺服的欠驱动双摆机器人仿生悬摆控制[J].机器人,2009,31(4):1 ZHAO Yini,CHENG Hongtai,ZHANG Xiaohua.Life-like brachitaion control of underactuated two-link robot based on dynamical servo[J].ROBOT,2009,31(4):1.DOI:10.13973/j.cnki.robot.2009.04.007
[12]WAN D K,CHENG H I,JI G F,et al.Non-horizontal ricochetal brachiation motion planning and control for two-link Bio-primate robot[C]//IEEE International Conference on Robotics and Biomimetics.Zhuhai:IEEE,2015:19.DOI:10.1109/ROBIO.2015.7407033
[13]吴伟国,席宝时.三自由度欠驱动机器人抓握目标杆运动控制[J].哈尔滨工业大学学报,2013,45(11):26.WU Weiguo,XI Baoshi.Motion control for 3-DOF underactuated robot to grasp objective rod[J].Journal of Harbin Institute of Technology,2013,45(11):26.
[14]WU W G,HUANG M C,GU X D.Underactuated control of bionic-ape robot based on the energy pumping method and big damping condition turn-back angle feedback[J].Robotics & Autonomous Systems,2018,100(2):119.DOI:10.1016/j.robot.2017.11.006
[15]李海伟.仿猿双臂手机器人连续移动控制及实验研究[D].哈尔滨:哈尔滨工业大学,2018.LI Haiwei.Research on continuous brachiation control and experiment of a bionic-ape dual-arm hands robot[D].Harbin:Harin Institute of Technology,2018.
[16]吴伟国,高力扬.能摆荡抓握远距离桁架杆的攀爬桁架机器人及其控制方法:201811098860.8 [P].(已受理) WU Weiguo,GAO Liyang.Climbing truss robot capable of grasping long-distance truss rod and its control method:201811098860.8 [P].(Application accepted)
[2] WU Weiguo,HASEGAWA Y,FUKUDA T.Gorilla robot mechanism design and basic research of standing up action[C]// 18th Annual Conference of the Robotics Society of Japan (RSJ).Tokyo:The Robotics Society of Japan,2000:1455.
[3] KAJIMA H,HASEGAWA Y,FUKUDA T,et al.Study on brachiation controller-adjustment method of strength and timing parameters[C]// Intelligent Robots and Systems.Lausanne:IEEE,2002:2497.DOI:10.1109/IRDS.2002.1041644
[4] KAJIMA H,DOI M,HASEGAWA Y,et al.A study on a brachiation controller for a multi-locomotion robot:Realization of smooth,continuous brachiation[J].Advanced Robotics,2004,18(10):1025.DOI:10.1163/1568553042674671
[5] SAITO F,FUKUDA T,ARAI F.Swing and locomotion control for a two-link brachiation robot[J].Control Systems IEEE,1994,14(1):5.DOI:10.1109/37.257888
[6] SAITO F,FUKUDA T,ARAI F,et al.Heuristic generation of driving input and control of brachiation robot[J].JSME International Journal,1994,37(1):147.DOI:10.1299/jsmec1993.37.147
[7] NAKANISHI J,FUKUDA T,KODITSCHEK D E.A brachiating robot controller[J].IEEE Tranctions on Robotics & Automation,2000,16(2):109.DOI:10.1109/70.843166
[8] LU Z G.Motion transfer control from walking to brachiation through vertical ladder climbing for a multi-locomotion robot[J].IEEE/ASME Transactions on Mechatronics,2014,19(5):1681.DOI:10.1109/TMECH.2013.2292327
[9] MEGHDARI A,MOHAMMAD H S,NOROUZI L M,et al.Minimum control effort trajectory planning and tracking of the CEDRA brachiation robot[J].Robotica,2013,31(7):1119.DOI:10.1017/S0263574713000362
[10]NAKANISHI J,RADULESCU A.Spatio-temporal stiffness optimization with switching dynamics[J].Autonomous Robots,2017,41(2):273.DOI:10.1007/s10514-015-9537-x
[11]赵旖旎,程红太,张晓华.基于动态伺服的欠驱动双摆机器人仿生悬摆控制[J].机器人,2009,31(4):1 ZHAO Yini,CHENG Hongtai,ZHANG Xiaohua.Life-like brachitaion control of underactuated two-link robot based on dynamical servo[J].ROBOT,2009,31(4):1.DOI:10.13973/j.cnki.robot.2009.04.007
[12]WAN D K,CHENG H I,JI G F,et al.Non-horizontal ricochetal brachiation motion planning and control for two-link Bio-primate robot[C]//IEEE International Conference on Robotics and Biomimetics.Zhuhai:IEEE,2015:19.DOI:10.1109/ROBIO.2015.7407033
[13]吴伟国,席宝时.三自由度欠驱动机器人抓握目标杆运动控制[J].哈尔滨工业大学学报,2013,45(11):26.WU Weiguo,XI Baoshi.Motion control for 3-DOF underactuated robot to grasp objective rod[J].Journal of Harbin Institute of Technology,2013,45(11):26.
[14]WU W G,HUANG M C,GU X D.Underactuated control of bionic-ape robot based on the energy pumping method and big damping condition turn-back angle feedback[J].Robotics & Autonomous Systems,2018,100(2):119.DOI:10.1016/j.robot.2017.11.006
[15]李海伟.仿猿双臂手机器人连续移动控制及实验研究[D].哈尔滨:哈尔滨工业大学,2018.LI Haiwei.Research on continuous brachiation control and experiment of a bionic-ape dual-arm hands robot[D].Harbin:Harin Institute of Technology,2018.
[16]吴伟国,高力扬.能摆荡抓握远距离桁架杆的攀爬桁架机器人及其控制方法:201811098860.8 [P].(已受理) WU Weiguo,GAO Liyang.Climbing truss robot capable of grasping long-distance truss rod and its control method:201811098860.8 [P].(Application accepted)