基于自适应力矩估计的模块化机器人系统阻抗控制  

Impedance control of modular robot system based on adaptive torque estimation

作　　者：王翀 王天和 安天骄 董博[1] WANG Chong;WANG Tianhe;AN Tianjiao;DONG Bo(School of Electrical&Electronic Engineering,Changchun University of Technology,Changchun 130012,China;Jilin Everinno Intelligent Equipment Co.Ltd.,Changchun 130000,China)

机构地区：[1]长春工业大学电气与电子工程学院,吉林长春130012 [2]吉林省恒创智能装备有限公司,吉林长春130000

出　　处：《长春工业大学学报》2023年第5期405-415,共11页Journal of Changchun University of Technology

基　　金：国家自然科学基金项目(62173047);吉林省科技发展计划项目(20220201038GX);吉林省教育厅“十三五”科学计划项目(JJKH20220689KJ)。

摘　　要：在使用谐波传动装置估计关节力矩过程中会受到噪声干扰,针对系统噪声和测量噪声模型不准确使得卡尔曼滤波辨识误差增大的问题,设计了基于Sage-Husa的自适应卡尔曼滤波算法。将谐波传动装置估计的力矩分别应用基于Sage-Husa的自适应卡尔曼滤波器以及卡尔曼滤波器进行处理,分析了两种算法对传感器测量数据降噪的性能,实验证明,基于Sage-Husa的自适应卡尔曼滤波器对测量数据曲线拟合度与平滑性优于卡尔曼滤波器,能够更有效地对随机突变噪声进行降噪处理。同时根据机器人在接触操作物体进行移动时会产生偏差,导致两者之间存在相互作用力,过大的作用力会对操作的物体产生破坏,使用阻抗控制技术使机器人的末端接触力保持在合理范围内,能更好地跟踪期望轨迹。为了减少系统中的抖振现象,提高机器人位置跟踪精度,提出了一种基于自适应滤波的阻抗控制方法,对机器人的运行轨迹进行较好跟踪。In order to solve the problem that the identification error of Kalman filter increases due to the inaccuracy of system noise and measurement noise model,an adaptive Kalman filter algorithm based on Sage-Husa was designed.The estimated torque of harmonic drive is processed by the adaptive Kalman filter based on Sage-Husa and the Kalman filter respectively.The performance of the two algorithms on the noise reduction of sensor measurement data is analyzed.The experiment shows that the adaptive Kalman filter based on Sage-Husa is better than the Kalman filter in the curve fitting and smoothness of measurement data.The random mutation noise can be reduced more effectively.At the same time,the deviation will occur when the robot moves in contact with the operating object,resulting in the interaction force between the robot and object.Excessive force will cause damage to the operating object.Impedance control technology is used to keep the end contact force of the robot within a reasonable range,so that the robot can better track the desired trajectory.In order to reduce chattering in the system and improve the accuracy of robot position tracking,an impedance control method based on adaptive filter is proposed to track the robot trajectory.

关 键 词：模块化机器人 谐波传动 力矩估计 自适应滤波 阻抗控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]