基于液压机械臂的主动柔顺控制  

Active compliance control based on hydraulic manipulator

作　　者：罗建雄 赵慧 蒋林[1,2] Luo Jianxiong;Zhao Hui;Jiang Lin(Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education,Wuhan University of Science and Technology,Wuhan 430081,China;Institute of Robotics and Intelligent Systems,Wuhan University of Science and Technology,Wuhan 430081,China)

机构地区：[1]武汉科技大学冶金装备及其控制教育部重点实验室,湖北武汉430081 [2]武汉科技大学机器人与智能系统研究院,湖北武汉430081

出　　处：《武汉科技大学学报》2022年第2期127-134,共8页Journal of Wuhan University of Science and Technology

基　　金：国家自然科学基金资助项目(61105086);武汉市应用基础前沿资助项目(2019010701011404).

摘　　要：为了提高液压机械臂的人机物理接触安全性,本文基于液压转角自伺服柔顺关节构建液压机械臂模型,通过仿真模拟研究了机械臂与外界发生意外碰撞及主动接触时的主动柔顺控制。模拟结果表明,当机械臂与环境发生意外碰撞时,借助所改进的阻抗控制策略,机械臂可以快速逃离碰撞物并与碰撞物保持一个安全的接触力值;当机械臂对未知环境进行力控任务时,采用变阻尼阻抗控制可以实现零稳态误差、低过冲和快速上升的力响应。In order to improve the safety of human-machine physical contact of hydraulic manipulators,a hydraulic manipulator model was established based on the hydraulic angular self-servo compliant joint,and the active compliance control in case of accidental collision and active contact between the manipulator and the outside environment was researched via simulation.The simulation results show that when the manipulator collides with the environment unexpectedly,the manipulator can quickly escape from the collider and maintain a safe contact force on the collider by using the improved impedance control strategy,and when the manipulator performs force control task in an unknown environment,the force response of zero steady-state error,low overshoot and sharp increases can be achieved through variable damping impedance control.

关 键 词：液压机械臂 主动柔顺控制 阻抗控制 柔顺关节 PI控制 力跟踪 

分 类 号：TH12[机械工程—机械设计及理论]