摘要
传统的人机协作机器人采用参数不可变的导纳控制方法,在运动过程中无法准确地对操作者运动意图进行判断,导致轨迹跟踪精度差、操作者做功多等问题,且在环境刚度非常大的情况下,机器人导纳控制将会出现时延和系统不稳定的现象。为此提出了一种根据环境刚度变化在线调节导纳阻尼参数的人机协作机器人控制算法。该算法首先讨论环境刚度的估计方法,以此作为操作者意图判断的依据。在此基础上,成比例地改变导纳控制器中的阻尼参数,使机器人更加顺应操作者意图而运动。与不变参数导纳控制方法相比,该方法实现简单,且使人机协作系统具有更好的稳定性和顺应性。在Simulink与ADAMS联合仿真基础上进行自由牵引实验,由结果可知上述方法降低了操作者的施加作用力并使得跟踪轨迹更加平滑,证明了其在人机协作系统中的可行性和有效性。
A fixed parameters admittance control method for traditional human-robot cooperation was used.In the motion process,low accuracy of trajectory tracking and inefficiency of human performance happen because the intentions of operator cannot be inferred exactly,Besides,under the circumstance of high environmental stiffness,it is possible that the control of robot with time delay and the system becomes unstable.A human-robot cooperation control algorithm is proposed,which adjusts admittance damping parameter on-line according to environmental stiffness.,Firstly,an estimation method of environmental stiffness was discussed,and intentions of operator can be acquired based on the method.Then,the damping parameter in the controller was varied in proportion of an estimated stiffness value of the operator tip,and the robot moves conformably according to human's intentions.Compared with fixed parameters admittance control,the system with the proposed control algorithm is of better compliance and stability,and is simple to realize.Finally,the co-simulation based on Simulink and ADAMS of free drag was performed. The result shows that the force exerting on the end-effector of robot by operator is reduced and the tracking trajectory is smoother.So the feasibility and effectiveness of the proposed controller are proved.
作者
王飞
晁智强
张传清
李华莹
WANG Fei;CHAO Zhi-qiang;ZHANG Chuan-qing;LI Hua-ying(Department of Mechanical Engineering,Academy of Army Armored Force,Beijing 100072,China)
出处
《计算机仿真》
北大核心
2018年第12期280-285,共6页
Computer Simulation
基金
军内科研项目(2013BZ162)
关键词
人机协作
刚度
阻尼系数
导纳控制
仿真
自由牵引
Human-robot cooperation
Stiffness
Damping coefficient
Admittance control
Simulation free drag
