一种七自由度冗余机械臂阻抗控制研究  

An impedance control method of 7-DOF redundant manipulator

作　　者：华磊[1] 张福海[1] 付宜利[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150001

出　　处：《华中科技大学学报（自然科学版）》2013年第S1期42-46,共5页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(61203347);高等学校博士学科点专项科研基金资助项目(20122302120047)

摘　　要：针对机械臂冗余关节阻抗的控制问题,提出了一种扩展的七自由度冗余机械臂阻抗控制方法.首先将操作空间和零空间的解组合构成一种扩展的增广操作空间;通过对增广操作空间进行解耦,分别得到七自由度冗余机械臂操作空间和零空间中所对应的驱动力矩.该方法在确保机械臂稳定运动的同时能实现对冗余关节阻抗的直接控制.然后通过引入避关节极限性能指标函数对零空间中的运动进行了优化,确保各关节运动角度均在合理的范围之内.最后以具有广泛适用性的七自由度冗余机械臂为模型进行了仿真,仿真结果验证该方法在冗余关节阻抗控制方面的可行性和有效性.An extended impedance control of a 7-DOF(degree of freedom)manipulator was proposed to control impedance of redundant joints.First the motions in operating space and null space were put together to form an augmented operating space.The extended impedance control was obtained by decoupling torques in the augmented operating space.The manipulator can move stably and the impedance of redundant joints can be controlled directly by using this method.To keep all joint values in joint limits,the objective function was introduced into the null space motion controller.Finally,the simulation was implemented on a 7-DOF manipulator and the simulation results verify the feasibility and effectiveness of the proposed extended impedance control.

关 键 词：冗余机械臂 阻抗控制 零空间 增广操作空间 解耦 优化 自由度 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]