基于自由度约束与正弦摩擦补偿的遥控器装配策略  

Remote controller assembly strategy based on degrees-of-freedom constraint and sinusoidal friction compensation

作　　者：邓振宇 柳宁[2,3] 闵飞炎[1,2] 王高 DENG Zhenyu;LIU Ning;MIN Feiyan;WANG Gao(College of Information Science and Technology,Jinan University,Guangzhou 510632,China;Robotics Intelligence Technology Research Institute,Jinan University,Guangzhou 510632,China;School of Intelligent Systems Science and Engineering,Jinan University,Zhuhai 519070,China)

机构地区：[1]暨南大学信息科学技术学院,广东广州510632 [2]暨南大学机器人智能技术研究院,广东广州510632 [3]暨南大学智能科学与工程学院,广东珠海519070

出　　处：《计算机集成制造系统》2023年第5期1429-1442,共14页Computer Integrated Manufacturing Systems

基　　金：国家自然科学基金面上资助项目(62172188);中央高校基本科研业务费专项资金资助项目(21620108)。

摘　　要：为解决遥控器装配等组装场景非规则外形零件装配问题,提出一种基于自由度约束与正弦摩擦补偿的装配策略设计方法。首先,该方法分析待装配体几何特征,利用接触状态的自由度约束方程设计装配动作,通过不同接触状态之间的迁移逐步约束待装配体之间的相对自由度;之后,针对常用摩擦力补偿算法受静摩擦力影响较大问题,提出一种基于正弦摩擦补偿的摩擦模型,用于补偿静摩擦力。同时,基于无力传感器的关节阻抗算法框架设计运动轨迹和外力,并判断装配状态迁移条件,有效提升装配成功率。实验结果表明,静摩擦补偿后的关节阻抗控制算法明显提升了静力感知性能,提出的装配策略在非规则外形零件组装场景成功率达94%,装配过程的机器人末端出力不超过20 N,可保证在装配力较小条件下以较高成功率完成装配。To solve the assembly problems of irregular shape objects such as remote controller,an assembly strategy design method based on degrees-of-freedom constraints and sinusoidal friction compensation was proposed.The geometric features of the objects were analyzed,the degrees-of-freedom constraint equations of contact states were used to design assembly actions,and the relative degrees-of-freedom of the objects was gradually constrained by the transition between different contact states.Aiming at the problem that common friction compensation algorithms were greatly affected by static friction force,a friction model based on sinusoidal friction compensation was proposed to compensate static friction.In the meanwhile,to improve the success rate of assembly,the motion trajectory design,external force design and assembly state transition detecting were carried out under the joint impedance control framework without force sensor.The experimental results showed that the static force sensing performance of the joint impedance control algorithm was significantly improved after static friction compensation,the success rate of the designed assembly strategy reaches 94%in the irregular shape object assembly scenario,and the manipulator end force of the assembly process was less than 20 N,which could ensure the assembly be completed with high success rate under the condition of small assembly force.

关 键 词：自由度约束 摩擦力补偿 阻抗控制 无力传感器 柔顺装配 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]