基于空间视觉的仿人形柔性机器人尺寸控制系统  

Dimensional Control System of Humanoid Flexible Robot Based on Spatial Vision

作　　者：徐万禄 焦阳博翰 朱聪强 庄健[1] XU Wan-lu;JIAO Yang-bo-han;ZHU Cong-qiang;ZHUANG Jian(School of Mechanical Engineering,Xi an Jiaotong University,Xi an,Shaanxi 710049;Hangzhou YunTuZhiJian Information Technology Co.,Ltd.,Hangzhou,Zhejiang 311101)

机构地区：[1]西安交通大学机械工程学院,陕西西安710049 [2]杭州云图智检科技有限公司,浙江杭州311101

出　　处：《液压与气动》2023年第2期125-134,共10页Chinese Hydraulics & Pneumatics

摘　　要：目前的仿人形机器人研究多以刚性材料为主,仿形精度不高且无法真实模拟人的体态特征。针对这一问题,设计了一种仿人形气动柔性机器人。设计了一种IBP-PID的稳压控制方法,实现了柔性机器人气动元件内的精密气压控制,进而提高了柔性机器人的尺寸控制精度;设计了空间视觉尺寸测量实验,检验该控制算法的准确性。结果表明:该稳压控制算法在微气压环境下的控制效果良好,兼顾了动态特性和稳定性;柔性机器人的关键部位尺寸控制精度在0.5%以内,验证了控制算法的有效性。Current research about humanoid robots is mainly based on rigid materials, and the profiling accuracy is not high enough to meet the requirement of human physical characteristics simulation. Considering this problem, a humanoid pneumatic flexible robot is designed. An IBP-PID voltage regulation control method is designed, which realizes the precise air pressure control in the pneumatic components of the flexible robot. Then the size control accuracy of the flexible robot is improved. The spatial visual size measurement experiment is designed to test the accuracy of the control algorithm. The experimental results show that the voltage regulation control algorithm has a good control effect in the micro-air pressure environment, taking into account the dynamic characteristics and stability. The dimensional control accuracy of key parts of the flexible robot is within 0.5%, which verifies the effectiveness of the control algorithm.

关 键 词：仿人机器人 柔性机器人 BP-PID控制 空间视觉 

分 类 号：TH138[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]