[1]蒋旭东,钟琳.面向快速拆装的模块化机器人柔顺控制方法[J].机械与电子,2022,(11):66-70.
　JIANG Xudong,ZHONG Lin.Modular Robot Compliance Control Method for Rapid Disassembly and Assembly[J].Machinery & Electronics,2022,(11):66-70.
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面向快速拆装的模块化机器人柔顺控制方法()

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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

Title:: Modular Robot Compliance Control Method for Rapid Disassembly and Assembly

Author(s):: JIANG Xudong ; ZHONG Lin; ( Shanghai Fire Research Institute of MEM , Shanghai 200032 , China )

Keywords:: modular robot ; quick disassembly ; compliance control ; kinematics ; impedance relation

摘要:: 在进行快速拆装任务时,模块化机器人既要有较高的伺服刚度与结构强度,又要对接触物体表现出一定的顺从特性,为此,提出一种面向快速拆装的模块化机器人柔顺控制方法。分析机器人拆装时的正逆向运动学,获取末端执行器与基座间的总坐标转换形式,以及对应关节的旋转角度,调整模块力的反馈作用,令阻抗与导纳趋于动态均衡。基于机器人与外界环境间作用力,建立模块阻抗关系,推算柔顺控制规律,利用设计的自适应柔顺控制模型,取得期望控制力,令模块到达期望位置。实验测试中,使机器人模块随实验人员手部移动,跟随运动轨迹表明,其能够较好地适应手部给予的未知力,各方向上的跟随速度与作用力拟合情况以及零件实际装配结果较为优越,具备良好的控制稳定性,且满足快速拆装时的柔顺控制基本需求。

Abstract:: When carrying out the task of rapid disassembly and assembly , the modular robot should not only have high servo stiffness and structural strength , but also show certain compliance characteristics to the contact object.Therefore , a compliance control method of modular robot for rapid disassembly and assembly is proposed.The forward and inverse kinematics of the robot during disassembly and assembly are analyzed , the transformation form of the total coordinates between the end effector and the base , and the rotation angle of the corresponding joint are obtained , and the feedback effect of the module force is adjusted to make the impedance and admittance tend to dynamic equilibrium ; based on the force between the robot and the external environment , the module impedance relationship is established , the compliance control law is calculated , and the designed adaptive compliance control model is used to obtain the desired control force and make the module reach the desired position.During experiments , the robot module moves with the hand of the experimenter and follows the motion trajectory , which shows that it can better adapt to the unknown force given by the hand ; The fitting of the following speed and force in each direction and the actual assembly results of the parts are superior , having good control stability , and meeting the basic requirements of compliance control during rapid disassembly and assembly.

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备注/Memo:: 收稿日期: 2021-11-17
基金项目:国家重点研发计划( 2020YFC1512101 )
作者简介:蒋旭东 ( 1970- ),男,上海人,副研究员,研究方向为消防车辆;钟琳 ( 1979- ),女,浙江鄞县人,硕士,副研究员,研究方向为消防装备及信息化。

更新日期/Last Update: 2022-12-13