基于腕力传感器机械臂柔顺开门作业研究

发布时间：2018-11-14 13:11

【摘要】：目前,机器人广泛地应用到工业、军事、航天等自动化领域,为使机器人更好的完成作业任务,顺应接触的作业环境,实时修正机械臂末端的运动轨迹,本文研究了基于腕力传感器的机械臂零点标定的方法,并结合开门作业任务,完成了机械臂柔顺控制作业。本文以雄克公司六自由度机械臂为研究对象,首先,搭建了以雄克机械臂为核心的控制系统,主机选用研华ARK5260,利用固高GTS系列运动控制器对移动平台进行控制,并采用MFC编写人机界面,实现对机械臂以及相关设备的控制。同时研究了对机械臂基本运动学分析,分别完成机械臂在笛卡尔空间和关节空间的规划,实现了机械臂执行任务的基本运动规划。其次,针对机械臂运动时负载端姿态变化影响腕力传感器测量结果问题,提出一种腕力传感器负载端重力补偿算法。通过分析机械臂负载端不同姿态下的重力变化形式,采用实验方法测定负载端重力与重心参数。建立了腕力传感器重力补偿系统模型,结合机械臂运动学方程,推导出腕力传感器负载端重力补偿算法和机械臂末端作用力解算方法,并应用算例进行MATLAB与ADAMS联合仿真。仿真表明本补偿算法能有效地消除负载端姿态变化影响,通过腕力传感器准确地测量机械臂所受的外力信息,验证了机械臂腕力传感器负载端重力补偿算法的正确性。最后,结合开门作业任务,分析了机械臂在开门过程中受力情况,在基于笛卡尔空间位置控制的基础上,提出了一种基于阻抗控制的柔顺开门作业规划,完成柔顺开门作业的实验,合理选取开门过程参数。在通过精准位置控制的基础上,保证了机械臂末端在不施加力的方向上不超过临界钝化值,实现了机械臂柔顺控制开门作业,大大减小了机械臂的劳损与故障。
[Abstract]:At present, robots are widely used in industrial, military, aerospace and other automation fields. In order to make the robot complete its task better and adapt to the contact working environment, the robot can modify the trajectory of the end of the manipulator in real time. In this paper, the method of arm zero calibration based on wrist force sensor is studied, and combined with the task of opening door, the manipulator compliance control operation is completed. In this paper, the six degree of freedom manipulator of Xiongke Company is taken as the research object. Firstly, a control system with Xiong Ke manipulator as the core is built. The host computer selects ARK5260, to control the mobile platform by using the fixed-high GTS series motion controller. MFC is used to compile the man-machine interface to realize the control of the manipulator and related equipment. At the same time, the basic kinematics analysis of the manipulator is studied, the planning of the manipulator in the Cartesian space and the joint space is completed, and the basic motion planning of the manipulator is realized. Secondly, a gravity compensation algorithm for wrist force sensor is proposed to solve the problem that the change of attitude at the load end affects the measurement result of wrist force sensor when the manipulator is moving. The gravity and gravity center parameters of the loaded arm are measured by means of the experimental method by analyzing the gravity variation forms of the manipulator under different attitude. The gravity compensation system model of wrist force sensor is established. Combined with the kinematics equation of the manipulator, the gravity compensation algorithm at the load end of the wrist force sensor and the calculation method of the force acting on the end of the arm are derived. The simulation results of MATLAB and ADAMS are carried out by an example. Simulation results show that the proposed compensation algorithm can effectively eliminate the influence of attitude change at the load end. The correctness of the gravity compensation algorithm is verified by measuring the external force information of the manipulator accurately by the wrist force sensor. Finally, combined with the task of opening door, the force of the manipulator in the process of opening the door is analyzed. Based on the Cartesian space position control, a flexible open door operation planning based on impedance control is proposed. Finish the experiment of compliant open door operation and select the parameters of open door process reasonably. On the basis of precise position control, it ensures that the end of the manipulator does not exceed the critical passivation value in the direction of no adding force, realizes the open door operation of the manipulator compliant control, and greatly reduces the strain and fault of the manipulator.
【学位授予单位】：哈尔滨理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241

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