基于阻抗控制的双臂机器人协调搬运方法研究

发布时间：2018-09-04 20:04

【摘要】：针对目前双臂机器人阻抗控制方法的研究,传统的主从控制方法不适宜搬运柔性物体,通过分析研究人类双臂搬运物体的动作特点,建立了一种新的双臂主从动作的阻抗控制方法。通过引入双臂间的相对误差及由相对误差产生的虚拟恢复力概念,有效地克服传统主从控制不适宜搬运柔性体的缺点。实现了冗余双臂机器人协调搬运作业要求,提高了双臂机器人的工作能力,保证了双臂机器人在协调搬运作业过程中各臂运动的平稳性,最后通过双臂协调搬运仿真,验证了该方法的可行性。
[Abstract]:The traditional master-slave control method is not suitable for carrying flexible objects in view of the current research on impedance control method of dual-arm robot. A new impedance control method for the master-slave operation of both arms is proposed. By introducing the relative error between the two arms and the concept of virtual restoring force generated by the relative error, the shortcoming of traditional master-slave control is effectively overcome that the traditional master-slave control is not suitable for carrying the flexible body. The redundant dual-arm robot can coordinate the handling operation, improve the working ability of the dual-arm robot, and ensure the smooth movement of each arm during the coordination of the two-arm robot. Finally, the simulation of the two-arm coordinated handling is carried out through the two-arm coordinated moving simulation. The feasibility of the method is verified.
【作者单位】：河北工业大学机械工程学院;
【分类号】：TP242

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