五杆式人机合作机器人控制策略仿真研究  

Simulation of Control Strategy of a Five Bar Cobot

作　　者：路敦民[1] 张立勋[2] 杨向东[3] 陈恳[3] 

机构地区：[1]北京林业大学工学院,北京100083 [2]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001 [3]清华大学精仪系,北京100084

出　　处：《系统仿真学报》2008年第20期5596-5599,共4页Journal of System Simulation

基　　金：国家自然科学基金资助项目(60275030);中国博士后科学基金资助项目(20060400417)

摘　　要：轨迹控制策略是人机合作机器人实现人机合作的重要条件。介绍了五杆Cobot的机构及其控制系统,提出了基于速度约束和位置约束的人机合作机器人轨迹控制策略,建立了相应的控制模型。两种控制策略均具有被动和约束的特征,主要区别是产生控制量的方法不同。利用MATLAB对两种控制策略跟踪直线和圆弧轨迹进行了仿真,结果表明,两种控制策略均可实现人机合作的要求,但位置约束控制策略轨迹约束精度更高一些。It is very important for trajectory control strategy to implement the cooperation between human and Cobot （col-laborative robot）. The mechanism and control system of five-bar Cobot were introduced. Based on velocity constraint and position constraint,two control strategies of the Cobot were respectively given out,which both have passive and constraint characteristics. The corresponding control model has been constructed and they have different methods of acquiring control value. The simulation of Cobot following a straight line and a section of circle was completed. The results show that the two control strategies are feasible,which meet the requirements of human-robot cooperation. And the position constraint strategy achieves much higher trajectory constraint precision.

关 键 词：人机合作机器人 虚拟轨迹控制 控制策略 速度约束 位置约束 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]