面向移乘护理的冗余双臂机器人行为安全控制  

Safety Control of a Redundant Dual-arm Robot for Transfer-care Task

作　　者：李洋[1,2] 冯适意 朱德良 郭士杰 宋元昊[1,2] 田倩倩 LI Yang;FENG Shiyi;ZHU Deliang;GUO Shijie;SONG Yuanhao;TIAN Qianqian(State Key Laboratory of Reliability and Intelligence of Electrical Equipment,Hebei University of Technology,Tianjin 300130;Hebei Key Laboratory of Robot sensing and Human-robot Interaction,Hebei University of Technology,Tianjin 300130)

机构地区：[1]河北工业大学省部共建电工装备可靠性与智能化国家重点实验室,天津300130 [2]河北省机器人感知与人机融合重点实验室,天津300130

出　　处：《机械工程学报》2023年第9期76-89,共14页Journal of Mechanical Engineering

基　　金：上海科技计划(21511101701);河北省重点研发计划(19211817D);国家自然科学基金青年基金(11902110)资助项目。

摘　　要：人体移乘是劳动强度最大的护理任务之一,因此移乘护理任务的机器人化是护理领域的迫切需求,双臂机器人以其灵活性和多功能化的优势,在护理领域受到广泛关注。不同于传统工业机器人的定位任务,护理任务需要机器人与人体接触,且场景通常为存在障碍的非结构化环境,因此任务过程中人体的安全性和舒适性至关重要。为实现非结构化环境中的人体移乘护理任务,提出轨迹变形算法,使双臂机器人具备规避障碍物及主动柔顺的功能。首先通过人工势场概念设计基于障碍及位姿的排斥函数和吸引函数,将机器人的障碍规避及主动柔顺功能通过人工势场虚拟力及人机交互力的合力描述。以合力下虚拟弹簧-阻尼系统的等效运动作为轨迹偏差,并通过雅可比矩阵将轨迹偏差变换到关节空间,避免冗余机器人的逆运动学求解。仿真结果表明,轨迹变形算法可在实现主动柔顺的同时规避障碍物。最后进行双臂机器人的人体移乘护理实验,验证轨迹变形算法可基于交互力及势场迭代调整轨迹,证明轨迹变形算法可用于非结构化场景中的人体护理任务,对提高人机交互过程中的安全性,进而实现机器人在康复护理领域的推广与应用具有重要意义。Human transfer task is one of the labor-intensive nursing tasks,so robotization of transfer nursing tasks is an urgent need in the nursing field,and dual-arm robots are gaining attention in the nursing field for their flexibility and versatility.Unlike traditional industrial robots for locating tasks,nursing tasks require physical human-robot interaction,and the scenario is usually an unstructured environment with obstacles,so human safety and comfort during the task are critical.To realize the transfer-care task of the dual-armed robot in an unstructured environment,a Trajectory Deformation Algorithm(TDA)that equip the robot with the functions of obstacle avoidance and active compliance is proposed.Firstly,the repulsive and attractive functions are designed based on the concept of artificial potential field,then the obstacle avoidance and active compliance function be described by the forces of the field and the human-robot interaction forces.Thus,the equivalent motion of the virtual spring-damped system under the forces is considered as the trajectory deviation,and the trajectory deviation is transformed to the joint space by the Jacobi matrix to avoid the inverse kinematic solution of the redundant robot.Simulation results show that the TDA can achieve active compliance and effectively avoid obstacles.Finally,the transfer-care task of dual-arm robot is conducted,which verified that the TDA can adjust the trajectory in real-time based on interaction forces and obstacle information.The achievements are of great significance to prove the TDA is suitable for nursing-care tasks in unstructured scenes,improve the security during the human-robot interaction,and realize the promotion and application of the robot in the field of rehabilitation nursing.

关 键 词：移乘护理 双臂机器人 轨迹变形 主动柔顺 人工势场 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]