一种冗余自由度双臂机器人协调控制器设计  

Cooperative Controller Design for Redundant Dual Arm Robot

作　　者：王美玲[1,2] 骆敏舟[1,2] 

机构地区：[1]中国科学技术大学自动化系,合肥230026 [2]中国科学院合肥物质科学研究院先进制造技术研究所,常州213164

出　　处：《系统仿真学报》2016年第8期1783-1789,共7页Journal of System Simulation

基　　金：江苏省科技支撑计划(BE2013003)

摘　　要：将冗余自由度双臂协作机器人协调操作分为三种工作模式:双臂独立操作模式、双臂全约束协调操作模式和双臂部分约束协调操作模式。针对以上三种工作模式,分别建立推导双臂及与被操作物体之间相互作用的动力学模型。以被操作任务的运动和力为控制目标,对以上三种模式设计了统一的双臂协调控制器,该控制器可以通过两种基于动力学模型的前馈控制器和计算力矩控制器实施。通过冗余自由度双臂机器人双臂协调操作仿真验证了该控制器的有效性,且仿真结果显示相比于前馈控制器,计算力矩控制器具有较好的轨迹跟踪精度。Cooperative operation for a redundant dual arm robot can be divided into three modes, namely, independent mode, full constrained cooperative working mode and partly constrained cooperative working mode. The dynamic equations of both dual arms and the interactions between dual arms and the operating objects were established and derived based on the three modes, and a unified formulation was obtained. With focus on motion and force of the desired task being operated, a unified controller was designed which could be carried out based on two dynamic model based controllers, namely feedforward controller and computer torque controller. Simulations of dual arms cooperative operation were carried out on a redundant dual arm robot, results of simulations were reported and discussed to validate the theoretical results of the proposed controller. Comparing with feedforward controller, the computer torque controller has better trajectory tracking precision.

关 键 词：双臂机器人 冗余自由度 动力学 协调操作 控制器设计 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]