基于六维加速度传感器的大型机械臂柔性关节振动抑制  

Vibration Suppression Strategy for Flexible Joint of Large Manipulator Based on a Six Dimensional Accelerometer

作　　者：倪风雷[1] 林鹏飞 邹添[1] NI Fenglei;LIN Pengfei;ZOU Tian(State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150080,China)

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150080

出　　处：《空间控制技术与应用》2018年第5期7-13,共7页Aerospace Control and Application

摘　　要：空间大型机械臂具有关节柔性大、臂杆长、基座漂浮等特点,将导致其在自由空间运动存在较大的残余振动,约束空间力控制精度和稳定性较低.基于设计的机械臂末端六维加速度传感器,设计关节加速度反馈控制器,并对控制性能进行分析对比,最后搭建机械臂柔性关节实验平台,开展关节空间位置和阻抗控制试验,试验结果表明基于加速度反馈的残余振动相比于采用传统的输入整形方法,具有振动抑制快,振幅小等优点.A large space manipulator has the characteristics of large joint flexibility,long arm rod and floating base,which will lead to large residual vibration in free space motion and low control precision and stability of restrained space force.Based on the six-dimensional acceleration sensor at the end of the manipulator,the acceleration feedback controller is designed,and the control performance is analyzed and compared.Finally,a flexible joint experimental platform is built to carry out the space position and impedance control experiments of joint.The experimental results show that the residual vibration based on acceleration feedback has the advantages of faster vibration suppression and smaller amplitude compared to the traditional input shaping method.

关 键 词：六维加速度 柔性关节 振动抑制 机械臂 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]