基于神经动力学的机器人位置/力规划方案  

Position/force planning scheme for robots based on neural dynamics

作　　者：刘梅 刘佰阳 谢正泰 金龙 LIU Mei;LIU Baiyang;XIE Zhengtai;JIN Long(School of Information Science and Engineering,Lanzhou University,Lanzhou 730000,China;Qinghai Provincial Key Laboratory of IoT,Xining 810008,China)

机构地区：[1]兰州大学信息科学与工程学院,甘肃兰州730000 [2]青海省物联网重点实验室,青海西宁810008

出　　处：《华中科技大学学报（自然科学版）》2022年第11期96-100,141,共6页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：青海省物联网重点实验室平台资助项目(2022-ZJ-Y21);国家重点研发计划资助项目(2017YFE0118900);国家自然科学基金面上项目(62176109);甘肃省自然科学基金杰出青年资助项目(21JR7RA531);甘肃省自然科学基金资助项目(22JR5RA487,22JR5RA427);中央高校基本科研业务费专项资金资助项目(lzujbky-2022-23,lzujbky-2022-it02)。

摘　　要：针对机器人在实际生产中因与环境相接触而可能导致损坏的问题,从运动学角度提出一种通过刚性系数将机器人位置误差和接触力误差建模和解耦的位置/力规划方案.该方案从机器人逆运动学出发,将末端执行器的接触力与位置误差建模为关于机器人速度与位置间的关系式,并且引入一种神经动力学模型.使用伪逆法对所提方案进行求解,将所得的解作为控制信号驱动机器人完成任务.数值仿真与实验结果表明:所提方案能够有效控制机器人完成轨迹跟踪的任务,末端执行器的接触力能够收敛到期望的接触力.To solve the problem that the robot might be damaged due to the contact with the environment in the actual production,from the perspective of kinematics,a position/force planning scheme was proposed to model and decouple the robot position error and contact force error through the stiffness coefficients.Based on the inverse kinematics of a robot,the contact force and position error of the end effector were modeled as equations containing the velocity and position of the robot,and a neural dynamics model was introduced. The pseudo-inverse method was used to solve the proposed scheme,and the obtained solution was used as the control signal to drive the robot to complete the task. Numerical simulations and experimental results show that the proposed scheme can effectively control the robot to complete the trajectory tracking task,and the contact force of the end effector can converge to the desired contact force.

关 键 词：冗余度机器人 神经动力学 伪逆法 位置/力规划方案 关节角速度 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]