双机械臂协调控制综述  

A Survey of Coordinated Control for Dual Manipulators

作　　者：刘永信[1] 王玲琳[1] 韩晓爽[1] 唐奇[1] LIU Yong-xin WANG Ling-lin HAN Xiao-shuang TANG(College of Electronic and Information Engineering Inner Mongolia University, Hohhot 010021, China)

机构地区：[1]内蒙古大学电子信息工程学院,呼和浩特010021

出　　处：《内蒙古大学学报（自然科学版）》2017年第4期471-480,共10页Journal of Inner Mongolia University：Natural Science Edition

摘　　要：双机械臂协调控制是实现机器人仿人控制的重要环节,实现协调控制需要依据完成任务的特点建模以及研究新的控制算法支持.本文对目前双机械臂建模方法、协调控制算法的研究进展进行了综述.建模是在刚性建模的基础上加入不同约束完成;控制算法涉及主从协调控制,自适应控制和视觉伺服控制以及其它智能控制算法.针对柔性操作对象,为实现控制目标,考虑增加对象的振动、机械臂运动产生的额外作用力、夹持对象的反作用力,介绍了控制机械臂运动的对应算法.还介绍了在人机协作领域目前的最新研究成果,并且分析控制方法目前存在的问题,对研究工作的发展趋势进行了展望.The dual manipulator coordinated control is an important section for robot imitate operation as human doing. Fulfilling a coordinated control,needs to be modeled for double arm robots according to different tasks and also needs to design a reasonable control algorithm. The research work of the double arm modeling method and the control algorithm are been reviewed. The model- ing is modified based on rigid modeling and adding different constraints. The control algorithm includes master-slave coordination control, adaptive control, and visual servo control and so on. For flexible operation objects,considering object vibration,additional force generated by arm movement and reaction force of holed object, the corresponding algorithms for manipulating arm control are introduced in order to achieve the control target. It also introduces the latest research results in this field of man-machine cooperation. Existing problems of the control method is analyzed. It prospects the development trend of this research.

关 键 词：双机械臂系统 建模方法 控制方法 柔性负载 人机交互 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]