超冗余机器人控制技术发展现状与展望  

Development Status and Prospect of Hyper-Redundant Robot Control Technology

作　　者：李佳轩 田溢汕 余洁 卢新建 赵永杰[1] Li Jiaxuan;Tian Yishan;Yu Jie;Lu Xinjian;Zhao Yongjie(College of Engineering,Shantou University,Shantou,Guangdong 515063,China;Guangdong Zhixing Robot Technology Co.,Ltd.,Foshan,Guangdong 528000,China)

机构地区：[1]汕头大学工学院,广东汕头515063 [2]广东省智行机器人科技有限公司,广东佛山528000

出　　处：《机电工程技术》2023年第2期1-5,共5页Mechanical & Electrical Engineering Technology

基　　金：广东省重大科技专项(编号:2020ST004);佛山市科技创新团队专项资助项目(编号:2018IT100052)。

摘　　要：超冗余机器人由于大量自由度和复杂的结构使其具有远超传统机器人的灵活性,但也使它的控制系统的设计变得繁复而困难。随着超冗余机器人在各领域中广泛投入应用,对超冗余机器人控制技术的发展现状予以总结和讨论显得更为必要。因此对超冗余机器人控制系统的架构及控制算法的研究现状进行了总结。首先,依次介绍超冗余机器人控制系统的硬件部分和软件部分,分析其基本架构与主要功能模块,并探讨开放式控制系统的设计方法。随后,简要介绍了超冗余机器人控制算法方面研究面临的主要难点,列举并简述当前用于超冗余机器人控制的常用算法,并对各自的效果进行分析。最后,对超冗余机器人控制系统的未来进行展望,提出超冗余机器人控制技术的发展方向,主要是数学模型建立方法的改进、开放式软硬件控制系统的开发和控制算法的创新等。The large number of degrees of freedom and complex structure of hyper-redundant robot make it much more flexible than traditional robot,but also make the design of its control system more complicated and difficult.As hyper-redundant robot is taken into widespread application in various fields,to summarize and discuss the development status of hyper-redundant robot control technology is even more necessary.The research status of hyper-redundant robot control system architecture and control algorithm was summarized.First,the hardware part and software part of hyper-redundant robot control system were introduced,their basic structure and main functional modules were analyzed,and the design method of open control system was discussed.Then,the main difficulties in the research of control algorithm for hyper-redundant robots were briefly introduced,the currently used hyper-redundant robot control algorithms were outlined,and their effects were analyzed.At last,the future development direction of the hyper-redundant robot control system was prospected,which was proposed to be on the improvement of mathematical model building method,development of open hardware and software control system and innovation of its control algorithm.

关 键 词：超冗余机器人 控制系统 开放式控制 模块化设计 控制算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]