基于气动肌肉群驱动球关节机器人结构及阻抗控制  

Mechanism and Impedance Control of the Ball Universal Joint Robot Driven by the Pneumatic Muscle Actuator Group

作　　者：刘昱[1] 王涛[1] 范伟[1] 

机构地区：[1]北京理工大学自动化学院,北京100081

出　　处：《机械工程学报》2013年第15期28-33,共6页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(50475163)

摘　　要：气动肌肉(Pneumatic muscle actuator,PMA)是仿生机器人研究的重点,为此,设计一种由气动肌肉群驱动的3自由度球关节机器人,并对其进行运动学分析。根据其运动学逆解,提出气动肌肉群位置控制策略;同时,提出基于运动学逆解及能量最优原则气动肌肉群力控制策略;设计基于气动肌肉位置群及力群的含位置PID内环的阻抗控制器。试验结果表明,单纯的位置控制精度比较高,可达0.3°,但造成输出力矩失控;阻抗控制虽然在一定程度上牺牲了位置控制精度,但可以对输出力矩进行柔顺控制。Pneumatic muscle actuator （PMA） is the research focus of bionic robot. Therefore, a triaxial-ball universal joint robot driven by the PMA group is designed. The kinematics of the robot is analysed. On the basis of its kinematics analysis, the position control strategy of the PMA group is proposed, Based on the kinematics analysis and the energy saving principle, the contact force control strategy of the PMA group is proposed. An impedance control scheme with inner position PID loop is designed for the PMA group. Results show that under position control only, the control accuracy is higher than impedance control and the steady-error is less than 0.3~, however, the contact force is out of control. Impedance control sacrifices a certain degree of position control accuracy but can realize compliant control of contact force.

关 键 词：气动肌肉 群控策略 阻抗控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]