多关节串联工业机器人的力位柔顺控制技术研究

发布时间：2018-02-09 15:26

本文关键词： 工业机器人运动控制力位混合控制联合仿真　出处：《西南科技大学》2017年硕士论文　论文类型：学位论文

【摘要】：随着机器人应用领域的不断扩展和对机器人智能化要求的不断提高,以位置控制为主的传统控制方案已经不能满足某些复杂环境(打磨、组装、康复机器人)的应用需求,机器人与环境间力位混合控制既能够控制机器人末端按照期望的轨迹运动,也能够对接触力的期望值跟踪控制,实现了机器人在复杂环境下的柔顺控制。本文以通用六轴串联工业机器人为研究对象,对其运动学和动力学进行建模、仿真和分析,并建立了该类型机器人的ADAMS虚拟样机。其次,对机器人运动控制做了深入研究,包括关节空间中的轨迹跟踪方案和位置控制方案以及任务空间中的轨迹跟踪控制方案,在关节空间中的控制方案采用直线轨迹规划以及T型速度规划得到实时关节变量的插补值,并通过牛顿-欧拉算法实时计算出各关节的驱动力矩以驱动机器人运动,且机器人模型会实时反馈关节变量达到跟踪控制的目的;在任务空间中的控制方案中将机器人末端姿态表示成轴角对形式并将姿态和位置合成一个广义量,其余操作同关节空间控制方案设计流程类似。然后,对机器人力位混合柔顺控制方案进行了研究,该方案是在任务空间控制方案的基础上添加了力控方案,并通过选择矩阵进行力和位置之间的切换,实现力位混合控制。最后,通过MATLAB/SIMULINK和ADAMS联合仿真验证本文所提方案的有效性及可行性。
[Abstract]:With the continuous expansion of robot application field and the continuous improvement of robot intelligent requirements, the traditional control scheme based on position control can not meet the needs of some complex environment (grinding, assembly, rehabilitation robot) application. The hybrid control between robot and environment can not only control the robot end moving according to the desired trajectory, but also track the expected value of contact force. In this paper, the kinematics and dynamics of the general six-axis series industrial robot are modeled, simulated and analyzed. The ADAMS virtual prototype of the robot is established. Secondly, the motion control of the robot is deeply studied, including the trajectory tracking scheme and the position control scheme in the joint space and the trajectory tracking control scheme in the task space. In the joint space, linear trajectory planning and T-type velocity planning are used to obtain the interpolation value of real-time joint variables, and Newton-Euler algorithm is used to calculate the driving moment of each joint in real time to drive the robot motion. The robot model can feedback the joint variables in real time to achieve tracking control. In the control scheme in mission space, the robot terminal attitude is expressed as an axial angle pair and the attitude and position are synthesized into a generalized quantity. The other operations are similar to the design flow of joint space control scheme. Then, the robot force position hybrid compliance control scheme is studied, which adds the force control scheme to the mission space control scheme. Finally, the effectiveness and feasibility of the proposed scheme are verified by the joint simulation of MATLAB/SIMULINK and ADAMS.
【学位授予单位】：西南科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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