基于末端圆周标定的软体机器人刚度独立控制研究  

Research on independent stiffness control of soft robot based on end cylindrical calibration

作　　者：田小玲[1] Tian Xiaoling(Huali College, Guangdong University of Technology,Guangzhou 511325,China)

机构地区：[1]广东工业大学华立学院

出　　处：《国外电子测量技术》2019年第6期135-139,共5页Foreign Electronic Measurement Technology

摘　　要：软体机器人进行末端位姿调节时受到稳态误差干扰,导致软体机器人刚度独立控制问题性不好,为了提高软体机器人的末端位姿调节的稳定性,提出一种基于末端圆周标定的软体机器人刚度独立控制方法。采用刚体力学分解方法构建软体机器人的动力学分析模型,采用严格反馈控制方法进行软体机器人的末端位姿记忆性控制,利用比例-积分控制器进行软体机器人的末端圆周标定,采用机器人的逆运动学模型进行软体机器人的刚体独立性调节,在关节空间上通过纠偏量与编程轨迹的自适应镇定性调整实现机器人的末端位姿反馈修正,实现软体机器人的优化控制。仿真结果表明,采用该算法进行软体机器人刚度独立控制的稳态性较好,纠偏能力较强。In order to improve the stability of the terminal position and pose adjustment, the software robot is disturbed by steady-state error, which leads to the problem of independent control of the stiffness of the software robot. An independent stiffness control method for soft robot based on end circle calibration is proposed. The rigid body mechanics decomposition method is used to construct the dynamic analysis model of software robot, and the strict feedback control method is used to control the terminal position and pose memory of software robot. The scale integral controller is used to calibrate the end circle of the software robot, and the inverse kinematics model is used to adjust the rigid body independence of the software robot. In the joint space,the end position and attitude feedback correction of the robot is realized by adjusting the deviation correction and the adaptive stabilization of the programming trajectory, and the optimal control of the software robot is realized. The simulation results show that the algorithm has good steady-state stability and strong deviation correction ability for independent stiffness control of software robots.

关 键 词：末端圆周标定 软体机器人 刚体 控制 

分 类 号：TN972[电子电信—信号与信息处理] TP242.2[电子电信—信息与通信工程]