摘要
协作机器人是下一代机器人的重要发展方向,其柔顺运动控制技术对于实现安全稳定的协作交互至关重要。本文针对协作机器人与环境和人交互协作的柔顺性需求,重点讨论基于阻抗控制的柔顺运动控制方法,对阻抗控制器设计的基本方法,阻抗控制的基本架构,改进的阻抗控制器设计方法,协作机器人动力学建模、外界交互环境建模、力感知和阻抗参数选取等关键问题的研究现状进行了综述,并对协作机器人柔顺运动控制的未来发展趋势进行了展望。
The collaborative robot is an important development direction of the next generation of robots, while its compliant motion control technology is critical to achieve safe and stable collaborative interactions. Aiming at compliant robotenvironment or human-robot interactions, this paper reviews the current research issues and status pertaining to the impedance-based compliant motion control methods,such as the basic design methods of impedance controller,the basic impedance control frameworks, the improved design methods of impedance controller, the dynamic modeling methods of collaborative robots, the modeling of external environment, force sensing techniques, and impedance parameter selection methods. Finally, the future development trend of compliant motion control for cooperative robots is discussed.
出处
《自动化博览》
2019年第2期66-73,共8页
Automation Panorama1
基金
国家自然科学基金-浙江两化融合联合基金项目(基金号U1509202)
国家自然科学基金-青年科学基金项目(基金号51805523)
关键词
协作机器人
人机交互
柔顺运动控制
阻抗控制
Collaborative robot
Human-robot interaction
Compliant motion control
Impedance control
