操作机器人轴孔装配的行为动力学控制策略  

Dynamics of Behavior Control Strategy in Peg-in-hole Assembly Task of Manipulator

作　　者：魏明明[1,2] 傅卫平[1] 蒋家婷 杨世强[1] 王雯[1] 

机构地区：[1]西安理工大学机械与精密仪器工程学院,西安710048 [2]西安工业大学机电工程学院,西安710032

出　　处：《机械工程学报》2015年第5期14-21,共8页Journal of Mechanical Engineering

基　　金：国家自然科学基金(10872160);陕西省自然科学基础研究计划重点(2011JZ012)资助项目

摘　　要：将移动机器人行为动力学理论扩展到操作机器人三维空间,并应用到机器人轴孔装配中。把轴孔装配过程分为趋向装配目标阶段和装配阶段。在趋向装配目标阶段,分别建立趋向装配目标点和避障的行为动力学模型,并将两种行为耦合构成机器人整体的竞争动力学模型;在装配阶段,建立末端执行器姿态调整动力学模型,并推导了侧向误差计算公式;在整个装配过程,利用宏/微平台和视觉/力觉伺服,对轴进行位姿调整,使其满足装配条件。仿真和试验结果表明:在行为动力学方程的控制下,末端执行器在避开障碍物的同时,安全有效地到达装配目标点,顺利完成轴孔装配,证明方法的有效性。The theory of mobile robot behavioral dynamics is extended to three-dimensional space of manipulator, and applied to peg-in-hole assembly task. The assembly process is divided into the trend toward assembly target and assembly phase. In the phase of trend toward assembly target, the dynamic model of target acquisition and obstacle avoidance are established respectively, and these two kinds of behavior constitute a overall coupling and competitive robot dynamics model. In assembly phase, the posture adjustment dynamic model is established and the lateral error formula is deduced. Throughout the assembly process, the use of macro/micro platform and visual/force servo, posture control is carried out on the shaft, make it meet the assembly condition. Simulation and experimental results show that, under the control of the dynamics equation, the end-effector while avoiding obstacles, safe and effective to reach the target assembly, successfully completed the peg-in-hole assembly, demonstrating the effectiveness of the proposed method.

关 键 词：行为动力学 操作机器人 轴孔装配 吸引子 排斥子 位姿调整 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]