基于自适应阻抗控制的大负载液压机械臂柔顺控制  

Flexibility Control of Large Load Hydraulic Manipulator Based on Adaptive Impedance Control

作　　者：陈少南 赵桂生 刘蕾 陈国栋 CHEN Shao-nan;ZHAO Gui-sheng;LIU Lei;CHEN Guo-dong(China Nuclear Power Technology Research Institute,Shenzhen,Guangdong 518026)

机构地区：[1]中广核研究院有限公司,广东深圳518026

出　　处：《液压与气动》2024年第4期15-21,共7页Chinese Hydraulics & Pneumatics

基　　金：国家重点研发计划(2022YFB4701105)。

摘　　要：针对大负载液压机械臂的柔顺作业问题,提出了一种自适应阻抗控制算法进行机械臂柔顺控制。算法根据六维力传感器测量的接触力信息和机械臂末端位置信息,对环境刚度和环境位置实时估计。根据环境刚度和环境位置的估计值,对机械臂的参考轨迹进行修正,实现自适应阻抗控制,以达到更佳的力控效果。开展了液压机械臂管道搬运实验,进行自适应控制算法性能验证。结果表明,相较于传统的阻抗控制算法,机械臂采用自适应阻抗控制算法能够获得更好的力控性和柔顺性。A self-adaptive impedance control algorithm is proposed for the compliance control of large load hydraulic robotic arms.The algorithm estimates the environmental stiffness and position in real-time based on the contact force information measured by the six dimensional force sensor and the position information of the robotic arm bottom.Based on the estimated values of environmental stiffness and environmental position,the reference trajectory of the robotic arm is modified to achieve adaptive impedance control and achieve better force control effect.Conducted hydraulic robotic arm pipeline handling experiments and verified the performance of adaptive control algorithms.The results show that compared to traditional impedance control algorithms,the use of adaptive impedance control algorithms for robotic arms can achieve better force control performance and flexibility.

关 键 词：液压机械臂 柔性控制 阻抗控制 自适应控制 

分 类 号：TH137[机械工程—机械制造及自动化] TP391.9[自动化与计算机技术—计算机应用技术]