基于非接触自适应阻抗控制的液压机械臂 主/被动联合柔顺控制  

Active-passive joint compliance control for hydraulic manipulator based on contactless adaptive impedance control

作　　者：王诗虎 蒋林[1,2] 赵慧 朱发强 张兆威 刘焕钊 Wang Shihu;Jiang Lin;Zhao Hui;Zhu Faqiang;Zhang Zhaowei;Liu Huanzhao(Key Laboratory of Metallurgical Equipment and Control 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》2023年第1期53-63,共11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：本文引入非接触阻抗控制理论对间接自适应阻抗控制进行改进从而获得非接触自适应阻抗控制。借助MATLAB/simulink仿真平台,将非接触自适应阻抗控制作为液压机械臂的主动柔顺控制并与关节的被动柔顺控制相结合,从而实现对关节的主、被动联合柔顺控制。仿真结果表明,主、被动联合柔顺控制效果较理想,可使机械臂在与环境接触时兼具较好的运动性能与较高的安全性能。The contactless impedance control theory was introduced to improve the indirect adaptive impedance control so as to acquire the contactless adaptive impedance control.With the help of MATLAB/simulink simulation platform,the contactless adaptive impedance control was used as the active compliance control of the hydraulic manipulator,which was combined with the passive compliance control of the joint to realize the active-passive joint compliance control of the joint.The simulation results show that the active-passive joint compliance control is effective,which can ensure good motion and a high degree of safety of the manipulator when in contact with the environment.

关 键 词：液压机械臂 阻抗控制 柔顺控制 柔顺关节 自适应阻抗控制 主被动联合柔顺控制 

分 类 号：TH12[机械工程—机械设计及理论]