基于自适应阻抗模型的双机器人协调搬运内力控制  

Internal Force Control Based on Adaptive Impedance Model in the Dual-robot Coordinated Transportation

作　　者：王耀武 张得礼[1] 胡雪刚 WANG Yaowu;ZHANG Deli;HU Xuegang(College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]南京航空航天大学机电学院,江苏南京210016

出　　处：《机械制造与自动化》2021年第6期162-165,共4页Machine Building & Automation

摘　　要：针对双机器人协调搬运作业中的内力控制问题,建立内力的数学模型,提出基于自适应阻抗模型的从机器人单端调节的内力控制策略,设计仿真和实验的任务场景:双机器人搬运箱体完成抬起、移动、放下的运动轨迹,对物体z轴方向的内力进行控制。仿真模拟了物体所受内力的变化,给定物体z轴方向的正弦位置误差信号并进行验证,完成了双机器人协调搬运的物理实验。结果表明:所提出的内力控制策略可以有效地把物体所受的内力控制在期望水平上。To solve the problem of internal force control in the coordinated transporting of dual robots,based on the master-slave motion framework and the introduced internal force model,an internal force control strategy of slave robot single-ended adjusiment based on adaptive impedance model is proposed.The simulation and experimental task is designed,i.e.,the dual robots carrying the box to complete the trajectory of lifting,moving and lowering,and controlling the internal force in z-axis of object frame.The change of the internal force of the object is simulated.The sinusoidal position error signal in the z-axis of the object frame is given and verified to complete the physical experiment of coordinated transporting of dual robots.The results show that the proposed internal force control strategy can effectively control the internal force of the object at the desired level.

关 键 词：双机器人 协调搬运 内力控制 自适应阻抗模型 单端调节 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]