基于虚拟分解控制的液压足式机器人单腿稳定阻抗控制

发布时间：2018-01-19 02:22

本文关键词： 足式机器人阻抗控制虚拟分解控制虚拟功率流稳定性分析　出处：《机器人》2017年05期 　论文类型：期刊论文

【摘要】：虽然非线性模型控制法可以很好地解决机器人柔顺性力接触问题,但也增加了复杂机器人高非线性动态建模控制的复杂度.对此,本文提出了一种基于虚拟分解控制的液压足式机器人单腿稳定阻抗控制.首先,给出了虚拟分解控制的数学基础.然后,将液压足式机器人单腿与无质量虚拟机械手串联成一个合成机械手,利用虚拟分解控制方法将合成机械手分解成由连杆和关节被控体组成的子系统链,运用虚拟分解控制的虚拟功率流和虚拟稳定性特性分析各子系统和无质量虚拟机械手的运动学、动力学、控制及虚拟稳定性,同时分析合成机械手的环境交互动态稳定性,接着给出一种既能保证系统稳定性又能实现理想阻抗性能的系统控制律增益.最后,将其运用到液压足式机器人单腿系统中进行验证,实验结果证明该方法不仅可以有效地减小机器人接触力,还能很好地跟踪目标阻抗.
[Abstract]:Although the nonlinear model control method can solve the problem of robot compliance force contact well, it also increases the complexity of high nonlinear dynamic modeling control of complex robot. In this paper, a single leg stable impedance control for hydraulic foot robot based on virtual decomposition control is proposed. Firstly, the mathematical basis of virtual decomposition control is given. The single leg of the hydraulic foot robot is connected with the massless virtual manipulator to form a synthetic manipulator. The synthetic manipulator is decomposed into a subsystem chain composed of the connecting rod and the joint controlled body by using the virtual decomposition control method. The kinematics, dynamics, control and virtual stability of subsystems and massless virtual manipulators are analyzed by using virtual power flow and virtual stability characteristics of virtual decomposition control. At the same time, the dynamic stability of the synthetic manipulator is analyzed, and then a gain of the control law is given, which can not only guarantee the stability of the system but also achieve the ideal impedance performance. Finally. The experimental results show that the proposed method can not only effectively reduce the contact force of the robot, but also track the impedance of the target.
【作者单位】：北京理工大学复杂系统智能控制与决策国家重点实验室;
【基金】：国家自然科学基金(51675041)
【分类号】：TP242
【正文快照】： 1引言(Introduction)目前先进机器人,如仿人机器人、足式机器人、外骨骼机器人等[1-2],已经成为工业界和学术界的研究热点.如何实现机器人的环境友好交互成为机器人控制的关键.这就要求机器人可以精确地控制好交互力或自身的柔顺性.机器人力控制的基本方法有Raibert提出的位/

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