基于力矩传感器实现关节空间阻抗控制
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摘要
介绍了阻抗控制理论,分析了力矩传感器及其结构,并对关节进行了动力学参数辨识。基于力矩传感器实现关节空间的阻抗控制,论述了力矩闭环、阻抗模块、输出位置替换等问题。对阻抗控制测试结果进行了分析,确认了改进方向。
The theory of impedance control was introduced. The force moment sensor and its structure were analyzed, and the dynamic parameters of the joint were identified. Based on the impedance control of joint space realized by the force moment sensor, the issues on closed loop of force moment, impedance module and replacement of output position were discussed. The improvement orientation was identified via analyses of test results for impedance control.
The theory of impedance control was introduced. The force moment sensor and its structure were analyzed, and the dynamic parameters of the joint were identified. Based on the impedance control of joint space realized by the force moment sensor, the issues on closed loop of force moment, impedance module and replacement of output position were discussed. The improvement orientation was identified via analyses of test results for impedance control.
引文
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[4]蒋再男,刘宏,黄剑斌,等.基于阻抗内环的新型力外环控制策略[J].航空学报,2009,30(8):1515-1520.
[5]LU W S,MENG Q H.Impedance Control with Adaptation for Robotic Manipulations[J].IEEE Transactions on Robotics and Automation,1991,7(3):408-415.
[6]HOGAN N.On the Stability of Manipulators Performing Contact Tasks[J].IEEE Journal on Robotics and Automation,1998,4(6):677-686.
[7]SERAJI H,COLBAUGH R.Force Tracking in Impedance Control[C].Proceedings IEEE International Conference on Robotics and Automation,Atlanta,1993.
[8]李二超,李战明.基于力/力矩信息的面向位控机器人的阻抗控制[J].控制与决策,2016,31(5):957-960.
[9]窦玉超,段艳宾,李建军.并联嵌入式六自由度位姿传感器的设计与精度分析[J].机械制造,2016,54(7):18-20,26.
[10]SPONG M W.Modeling and Control of Elastic Joint Robots[J].Journal of Dynamic Systems,Measurement,and Control,1987,109(4):310-318.
[11]ALBU-SCH魧FFER A,HADDADIN S,OTT C,et al.The DLR Lightweight Robot-Design and Control Concepts for Robots in Human Environments[J].Industrial Robot,2007,34(5):376-385.
[2]HOGAN N.Stable Execution of Contact Tasks Using Impedance Control[C].Proceedings.1987 IEEE Internationa Conference on Robotics and Automation,Raleigh,1987.
[3]HOGAN N.Impedance Control:An Approach to Manipulation[J].Journal of Dynamic Systems,Measurement,and Control,1985,107(1):1-24.
[4]蒋再男,刘宏,黄剑斌,等.基于阻抗内环的新型力外环控制策略[J].航空学报,2009,30(8):1515-1520.
[5]LU W S,MENG Q H.Impedance Control with Adaptation for Robotic Manipulations[J].IEEE Transactions on Robotics and Automation,1991,7(3):408-415.
[6]HOGAN N.On the Stability of Manipulators Performing Contact Tasks[J].IEEE Journal on Robotics and Automation,1998,4(6):677-686.
[7]SERAJI H,COLBAUGH R.Force Tracking in Impedance Control[C].Proceedings IEEE International Conference on Robotics and Automation,Atlanta,1993.
[8]李二超,李战明.基于力/力矩信息的面向位控机器人的阻抗控制[J].控制与决策,2016,31(5):957-960.
[9]窦玉超,段艳宾,李建军.并联嵌入式六自由度位姿传感器的设计与精度分析[J].机械制造,2016,54(7):18-20,26.
[10]SPONG M W.Modeling and Control of Elastic Joint Robots[J].Journal of Dynamic Systems,Measurement,and Control,1987,109(4):310-318.
[11]ALBU-SCH魧FFER A,HADDADIN S,OTT C,et al.The DLR Lightweight Robot-Design and Control Concepts for Robots in Human Environments[J].Industrial Robot,2007,34(5):376-385.