服务机器人模块化柔性关节研制及其控制技术研究
发布时间：2018-07-17 16:36
【摘要】：随着社会生产和生活方式的快速变化以及人口老龄化的加剧,我国服务机器人的需求量也随之增加。在服务机器人使用过程中,人和服务机器人想要从“主仆关系”变成真正的“伙伴关系”,人的安全性尤为重要。柔性关节具有安全交互、抗冲击的特点,将其应用到服务机器人关节结构中可提高人机协作过程的安全性。本课题设计一种模块化柔性关节并对其开展控制研究。首先,柔性关节频域特性分析。建立柔性关节的简化模型,在频域下分析不同驱动源对柔性关节系统稳定性、输出带宽、幅频和相位跟随性的影响,以及刚度系数和阻尼系数对开环闭环系统稳定性的影响,并在力源驱动模型下分析柔性关节的关节输出阻抗和抗冲击性,充分分析柔性关节的关节特性。然后,模块化柔性关节的总体设计。根据柔性关节的实际应用场合,制定该柔性关节的技术指标,依据技术指标基于模块化设计思想对柔性关节进行总体设计,包括结构设计和控制系统设计,并对关键零部件弹性元件进行专门的设计和分析,利用有限元法进行尺寸优化设计,通过仿真软件验证该弹性元件设计的合理性。其次,柔性关节动力学建模及控制仿真。在力源驱动下建立柔性关节的动力学模型,同时考虑关节摩擦、外界力矩扰动对柔性关节系统的影响,根据建立的动力学模型设计两种位置控制算法,分别为基于重力补偿的PD控制和基于模糊控制的PD控制,通过仿真分析柔性关节位置保持、位置跟随时控制算法的快速性、准确性及总结两种控制算法的优缺点。为了使得柔性关节具有柔顺性、安全性的特点,还设计两种阻抗控制器,分别为基于重力补偿的阻抗控制器和基于遗忘系数的自适应阻抗控制器,柔性关节采用内环为位置控制的阻抗控制,通过仿真分析柔性关节与刚度变化的环境接触时不同阻抗控制器的力、位置跟随性,抗干扰性及环境适应性,验证阻抗控制器的有效性。最后,搭建模块化柔性关节实验平台,开展位置控制实验,验证位置控制算法的有效性及柔性关节的合理性。
[Abstract]:With the rapid changes of social production and life style and the aggravation of population aging, the demand for service robots in China is also increasing. In the process of using service robot, human and service robot want to change from "master-servant relationship" to "real partnership", and human security is especially important. Flexible joints have the characteristics of safety interaction and shock resistance. Applying them to the joint structure of service robot can improve the safety of man-machine cooperation process. In this paper, a modular flexible joint is designed and its control is studied. Firstly, the characteristics of flexible joints in frequency domain are analyzed. A simplified model of flexible joint is established. The effects of different driving sources on the stability, output bandwidth, amplitude, frequency and phase following of flexible joint system are analyzed in frequency domain, and the effects of stiffness coefficient and damping coefficient on the stability of open loop closed loop system are also analyzed. The joint output impedance and impact resistance of the flexible joint are analyzed under the force source drive model, and the joint characteristics of the flexible joint are fully analyzed. Then, the overall design of modular flexible joints. According to the practical application of the flexible joint, the technical index of the flexible joint is formulated, and the overall design of the flexible joint is carried out based on the modular design idea, including the structural design and the control system design. The elastic element of key parts is specially designed and analyzed, and the dimension optimization design is carried out by using finite element method. The rationality of the design of elastic element is verified by simulation software. Secondly, flexible joint dynamics modeling and control simulation. The dynamic model of flexible joint driven by force source is established, and considering the influence of joint friction and external torque disturbance on flexible joint system, two position control algorithms are designed according to the established dynamic model. PD control based on gravity compensation and PD control based on fuzzy control are used to analyze the rapidity and accuracy of the flexible joint position retention and position following control algorithm by simulation. The advantages and disadvantages of the two control algorithms are summarized. In order to make flexible joints have the characteristics of flexibility and safety, two kinds of impedance controllers are designed, one is based on gravity compensation and the other is adaptive impedance controller based on forgetting coefficient. The flexible joints are controlled by impedance with the inner loop as the position control. The force, position following, anti-interference and environmental adaptability of the different impedance controllers when the flexible joints are in contact with the environment with varying stiffness are analyzed by simulation. Verify the effectiveness of the impedance controller. Finally, a modular flexible joint experiment platform is built to verify the effectiveness of the position control algorithm and the rationality of the flexible joint.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
本文编号：2130261
[Abstract]:With the rapid changes of social production and life style and the aggravation of population aging, the demand for service robots in China is also increasing. In the process of using service robot, human and service robot want to change from "master-servant relationship" to "real partnership", and human security is especially important. Flexible joints have the characteristics of safety interaction and shock resistance. Applying them to the joint structure of service robot can improve the safety of man-machine cooperation process. In this paper, a modular flexible joint is designed and its control is studied. Firstly, the characteristics of flexible joints in frequency domain are analyzed. A simplified model of flexible joint is established. The effects of different driving sources on the stability, output bandwidth, amplitude, frequency and phase following of flexible joint system are analyzed in frequency domain, and the effects of stiffness coefficient and damping coefficient on the stability of open loop closed loop system are also analyzed. The joint output impedance and impact resistance of the flexible joint are analyzed under the force source drive model, and the joint characteristics of the flexible joint are fully analyzed. Then, the overall design of modular flexible joints. According to the practical application of the flexible joint, the technical index of the flexible joint is formulated, and the overall design of the flexible joint is carried out based on the modular design idea, including the structural design and the control system design. The elastic element of key parts is specially designed and analyzed, and the dimension optimization design is carried out by using finite element method. The rationality of the design of elastic element is verified by simulation software. Secondly, flexible joint dynamics modeling and control simulation. The dynamic model of flexible joint driven by force source is established, and considering the influence of joint friction and external torque disturbance on flexible joint system, two position control algorithms are designed according to the established dynamic model. PD control based on gravity compensation and PD control based on fuzzy control are used to analyze the rapidity and accuracy of the flexible joint position retention and position following control algorithm by simulation. The advantages and disadvantages of the two control algorithms are summarized. In order to make flexible joints have the characteristics of flexibility and safety, two kinds of impedance controllers are designed, one is based on gravity compensation and the other is adaptive impedance controller based on forgetting coefficient. The flexible joints are controlled by impedance with the inner loop as the position control. The force, position following, anti-interference and environmental adaptability of the different impedance controllers when the flexible joints are in contact with the environment with varying stiffness are analyzed by simulation. Verify the effectiveness of the impedance controller. Finally, a modular flexible joint experiment platform is built to verify the effectiveness of the position control algorithm and the rationality of the flexible joint.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
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