末端速度操控的重载冗余机械臂运动学分析与仿真验证  

Kinematics Analysis and Simulation Verification of Terminal Velocity Controlled Heavy-duty Redundant Manipulator

作　　者：刘刚 张红 王晓磊 程敏[2] 苏琦[3] 陈国栋 LIU Gang;ZHANG Hong;WANG Xiao-lei;CHENG Min;SU Qi;CHEN Guo-dong(China Nuclear Power Research Institute Co.,Ltd.,Shenzhen 518000;The State Key Laboratory of Mechanical Transmissions,Chongqing University,Chongqing 400044;State Key Laboratory of Fluid Power and Mechatronic Systems,Zhejiang University,Hangzhou,Zhejiang 310027)

机构地区：[1]中广核研究院有限公司,深圳518000 [2]重庆大学机械传动国家重点实验室,重庆400044 [3]浙江大学流体动力与机电系统国家重点实验室,浙江杭州310027

出　　处：《液压与气动》2023年第6期11-18,共8页Chinese Hydraulics & Pneumatics

基　　金：国家自然科学基金委区域创新发展联合基金重点支持项目(U21A20124);国家自然科学基金青年基金(51905473);浙江省科技计划项目(2022C01039);工信部战略基础产品-数字液压系统开发及应用项目(TC220H064)。

摘　　要：重载冗余机械臂具有动作灵活,载重大等特点,非常适合消防、地震救援等复杂现场。然而,现有机械臂控制方式存在控制难度大、硬件要求高、控制效果差等问题。目前,针对这些问题的有效控制方式是末端控制,对此,分析了两种面向机械臂末端进行速度控制的算法——梯度投影法和分解速率法。针对重载冗余机械臂进行数学建模,运用MATLAB对两种控制算法进行了仿真验证,并比较了两种算法的可操作性。分析结果表明,梯度投影法和分解速率法总体上都能较好实现重载冗余机械臂的控制,分解速率法在误差控制方面更好,而梯度投影法在可操作性方面更强。这两种末端控制算法为下一步建立双臂重载救援机器人的操控策略和实际的应用末端控制提供了理论基础。The heavy-duty redundant manipulator has many features such as flexible operation and heavy load,which is very suitable for complex scene such as fire fighting and earthquake rescue.However,the existing manipulator control methods have problems such as difficulty in control,high hardware requirements,and poor control effects.At present,the effective control method for these problems is the end control.Two algorithms for speed control of the end of the manipulator——Gradient-Projection method and Resolve-Rate method are analyzed.The mathematical modeling of the heavy-duty redundant manipulator is carried out,and the two control algorithms are simulated by MATLAB,and the operability of the two algorithms is compared.The analysis results show that both Gradient-Projection method and Resolve-Rate method can realize the control of heavy-duty redundant manipulator effectively.The Resolve-Rate method is better in deviation control,while the Gradient-Projection method is stronger in maneuverability.These two end control algorithms provide a theoretical basis for the establishment of control strategy and practical application of end control for double-armed heavy-duty rescue robots.

关 键 词：重载冗余机械臂 末端操控 可操作性 

分 类 号：TH137[机械工程—机械制造及自动化]