水下机械手柔顺抓取的阻抗控制方法  

Impedance Control Method for Underwater Gripper Compliant Grasping

作　　者：鲁亮 梁承元 王浩[1] 杨新 LU Liang;LIANG Chengyuan;WANG Hao;YANG Xin(School of Mechanical Science and Engineering,Huazhong University of Science and Technology,Wuhan 430074,China;Guangdong Intelligent Robotics Institute,Dongguan 523808,China)

机构地区：[1]华中科技大学机械科学与工程学院,湖北武汉430074 [2]广东省智能机器人研究院,广东东莞523808

出　　处：《电子科技》2023年第6期21-26,共6页Electronic Science and Technology

基　　金：“珠江人才计划”创新创业团队项目(2019ZT08Z780)。

摘　　要：针对具有较多不确定性和随机干扰的水下机械手系统,文中分析了水下环境对动力学模型和阻抗控制器的影响,构建了基于环境参数辨识的阻抗控制器来解决水下柔顺抓取的力跟踪问题。通过引入遗忘因子的递推最小二乘法在线辨识环境刚度并修正参考位置,从而减小接触力的稳态误差,实现实时性和准确性的力跟踪。利用MATLAB/Simulink软件平台进行仿真实验,仿真结果表明该控制器在引入持续外部干扰力和期望力调整的情况下,能快速实现对期望力的跟踪和实时估计接触刚度,具有较好的鲁棒性。最后,通过实验验证了该控制器在真实的水下柔顺抓取任务中具有快速稳定的力跟踪性能,其平均稳态力跟踪偏差约为0.014 N,最大力跟踪偏差约为0.138 N。In view of the underwater manipulator system with more uncertainty and random interference,the effect of the underwater environment on the dynamic model and impedance controller is analyzed,and an impedance controller based on environmental parameter identification is constructed to solve the force tracking problem of underwater compliant grasping.The environmental stiffness is identified online by recursive least squares with the introduction of a forgetting factor,so as to correct the reference position.The steady-state error of the contact force is reduced,and real-time and accurate force tracking is achieved.Simulation with the MATLAB/Simulink are carried out.It is shown that the controller can quickly achieve tracking of the desired force and real-time estimation of contact stiffness under the introduction of continuous external interference force and desired force adjustment,and has good robustness.Finally,experiments prove that the controller has fast and stable force tracking performance in real underwater compliant grasping tasks.Furthermore,the average steady-state force tracking deviation is about 0.014 N,and the maximum force tracking deviation is about 0.138 N.

关 键 词：水下机械手 柔顺抓取 阻抗控制 参数辨识 递推最小二乘法 遗忘因子 随机干扰 力跟踪 

分 类 号：TP16[自动化与计算机技术—控制理论与控制工程] TP241[自动化与计算机技术—控制科学与工程]