基于时间延时估计和自适应模糊滑模控制器的双机械臂协同阻抗控制  被引量:33

Coordinated impedance control for dual-arm robots based on time delay estimation and adaptive fuzzy sliding mode controller

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作  者:李德昀 徐德刚[1] 桂卫华[1] LI De-yun;XU De-gang;GUI Wei-hua(School of Automation,Central South University,Changsha 410083,China)

机构地区:[1]中南大学自动化学院,长沙410083

出  处:《控制与决策》2021年第6期1311-1323,共13页Control and Decision

基  金:国家自然科学基金面上项目(61973320);国家自然科学基金创新研究群体科学基金项目(61621062);国家重点研发计划项目(2018YFB1309002)。

摘  要:多机械臂的精准协同控制已成为当前机器人领域的研究难点,为实现双机械臂精准控制,通过建立双机械臂动力学模型,采用时间延时估计简化机械臂动力学模型,在保证控制系统稳定性的前提下,引入自适应模糊滑模控制器实现对估计误差的修正和补偿,设计基于时间延时估计和自适应模糊滑模控制的双机械臂协同阻抗控制器,实现双机械臂协同操作的末端轨迹控制以及接触力精准控制.最后,将该控制器应用于两台六自由度机械臂仿真平台,实现双臂夹取和搬运同一目标物体的操作,通过与其他控制器进行对比实验,表明所设计的控制器具有响应快、无抖震、精度高的特点.Precise collaborative control of multi-manipulators has become a research difficulty in the current field of robotics. In order to achieve precise control of dual-arm, this paper establishes a dynamic model of dual-arm and uses time delay estimation to simplify it. Under the premise of ensuring the stability of the control system, an adaptive fuzzy sliding mode controller is introduced, which realizes the correction and compensation of the estimation error. Then, a coordinated impedance controller for dual-arm robots based on time delay estimation and adaptive fuzzy sliding mode control is designed to realize the trajectory tracking of the end-effector and contact force control of dual manipulators.Finally, this control system is simulated and applied to two 6-DOF manipulators to pick up and carry the same target object. The comparison experiment in comparison with other controllers verifies that this controller has faster response speed and higher control accuracy with less jitter.

关 键 词:双机械臂协同操作 阻抗控制 时间延时估计 滑模控制 模糊控制 自适应控制 

分 类 号:TP242.2[自动化与计算机技术—检测技术与自动化装置]

 

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