基于无源观测和控制的爬壁机器人触力柔顺控制

发布时间：2018-11-08 13:45

【摘要】：基于单端口网络的无源性理论,建立机器人吸附足与叶片壁面的端口网络系统,给出触力柔顺控制所需的无源性条件;设计无源观测器能量观测算法,无源控制器根据系统能量变化预测值和触力反馈值,修正吸附足位置。在Matlab/Simulink中的Sim Mechanics搭建的三自由度爬壁机器人仿真测试平台和实物样机测试平台上开展无源性控制实验。仿真和样机实验结果一致表明,所设计的算法可将触力控制在稳定吸附阈值和冲击阈值内,实现足壁触力的无源柔顺。
[Abstract]:Based on the passive theory of single-port network, the port network system of robot adsorbing foot and blade wall is established, and the passive condition for the control of touch force compliance is given. The passive observer energy observation algorithm is designed. The passive controller modifies the position of the adsorption foot according to the predicted energy change and the contact feedback value of the system. The passive control experiment is carried out on the simulation test platform of three-degree-of-freedom wall-climbing robot and the test platform of physical prototype built by Sim Mechanics in Matlab/Simulink. The results of simulation and prototype experiments show that the proposed algorithm can control the contact force within the stable adsorption threshold and impact threshold to achieve passive compliance of foot contact force.
【作者单位】：中国计量大学机电工程学院;浙江省在线检测装备校准技术研究重点实验室;
【基金】：浙江省自然科学基金(LQ13E050004;LY14F030021) 国家高技术研究发展(863)计划(2015AA042302)
【分类号】：TM315;TP242

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