双臂协调搬运过程中基于变阻抗模型的位置/力混合控制  

The Hybrid Position/Force Control Based on Variable Impedance Model in the Dual-Arm Coordinated Transport

作　　者：段晋军[1,2] 甘亚辉[1,2] 戴先中[1,2] DUAN Jinjun;GAN Yahui;DAI Xianzhong(School of Automation,Southeast University,Nanjing 210096,China;Key Laboratory of Measurement and Control of Complex Systems of Engineering,Ministry of Education,Nanjing 210096,China)

机构地区：[1]东南大学自动化学院,江苏南京210096 [2]复杂工程系统测量与控制教育部重点实验室,江苏南京210096

出　　处：《机器人》2019年第6期795-802,812,共9页Robot

基　　金：国家自然科学基金(61873308,61503076,61175113);江苏省自然科学基金(BK20150624);复杂工程系统测量与控制教育部重点实验室开放课题(MCCSE2014B02)

摘　　要：针对双臂协调搬运中同时存在外部干扰和内力约束的复杂耦合运动,提出了一种基于变阻抗模型的内外位置/力混合控制策略.首先,分析了闭链系统下面向被操作对象的运动规划和动力学模型.然后,根据协调搬运特性将任务空间正交解耦为外环的位置自由子空间和内环的力约束子空间,对于位置子空间中的外部干扰采用阻抗模型进行轨迹跟踪,对于力约束子空间中的内力约束采用变阻抗模型进行力跟踪.最后,在搭建的仿真环境和物理环境中对双臂协调搬运物体进行实验验证,实验结果表明所提算法对于外部干扰表现出柔顺性并满足内力约束条件.For the complex coupling motion with external disturbance and internal force constraint existing in the dual-arm coordinated transport,an internal and external hybrid position/force control strategy based on the variable impedance model is proposed.Firstly,the motion planning and dynamic model of the manipulated object in the closed-chain system are analyzed,and then the task space is orthogonally decoupled into the position free subspace at the outer loop and the force constrained subspace at the inner loop according to the coordinated transport characteristics.For the external disturbance in the position subspace,the impedance model is used for the trajectory tracking.For the internal force in the force constrained space,the variable impedance model is used for the force tracking.Finally,dual-arm coordinated transport experiments are carried out in the simulated environment and physical environment.The experimental results show that the proposed algorithm is flexible for external disturbance and satisfies internal force constraints.

关 键 词：双臂协调 闭链系统 变阻抗模型 位置/力混合控制 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]