基于模型预测控制与阻抗控制的受限机构操作方法  

Operation Method of Constrained Mechanism Based on Model Predictive Control and Impedance Control

作　　者：汪正涛 陶卫军[1] Wang Zhengtao;Tao Weijun(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]南京理工大学机械工程学院,南京210094

出　　处：《兵工自动化》2024年第10期68-75,共8页Ordnance Industry Automation

摘　　要：针对移动机械臂对受限运动机构操作的需要,提出一种基于模型预测控制(model predictive control,MPC)和阻抗控制(impedance control,IC)的移动机械臂全身运动规划与控制的实时方法。允许移动机械臂在操作过程中感知环境的动态变化并进行全身避障,形成使移动底盘和机械臂协调良好的运动以及使移动机械臂与环境的交互具备柔顺性。移动机械臂开门操作的仿真实验结果表明:该方法在移动机械臂全身运动规划、阻抗控制方面具备有效性,具有良好的应用前景。To meet the need of mobile manipulators operating on constrained motion mechanisms,a real-time method for whole body motion planning and control of mobile manipulators based on model predictive control(MPC)and impedance control(IC)is proposed.The mobile mechanical arm is allowed to sense the dynamic change of the environment in the operation process and avoid obstacles all over the body,so that the mobile chassis and the mechanical arm can move in a well-coordinated manner,and the interaction between the mobile mechanical arm and the environment is flexible.The simulation results of the door opening operation of the mobile manipulator show that the method is effective in the whole body motion planning and impedance control of the mobile manipulator,and has a good application prospect.

关 键 词：模型预测控制 阻抗控制 移动机械臂 受限运动机构操作 非线性规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]