基于分数阶导纳与逆动力学鲁棒控制的并联机器人人机协作  

Human-robot Collaboration of Parallel Robots Based on Fractional Admittance and Inverse Dynamic Robust Control

作　　者：孙德源 王军义[2,3,4] 徐志刚[2,3,4] 鲍建文 王志军 刘慧芳[1] SUN Deyuan;WANG Junyi;XU Zhigang;BAO Jianwen;WANG Zhijun;LIU Huifang(School of Mechanical Engineering,Shenyang University of Technology,Shenyang 110870,China;State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Science,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Science,Shenyang 110169,China;Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Inner Mongolia Aerospace Hongxia Chemical Co.,Ltd.,Hohhot 010070,China)

机构地区：[1]沈阳工业大学机械工程学院,辽宁沈阳110870 [2]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016 [3]中国科学院机器人与智能制造创新研究院,辽宁沈阳110169 [4]中国科学院沈阳自动化研究所,辽宁沈阳110016 [5]内蒙古航天红峡化工有限公司,内蒙古呼和浩特010070

出　　处：《机器人》2024年第6期725-731,共7页Robot

基　　金：国家重点研发计划(2022YFB3306000);机器人学国家重点实验室自主课题(2023-Z17)。

摘　　要：鉴于传统的串联机器人承载能力有限、精度不高,并联机器人的闭环结构增加了其动力学解算难度且响应速度较慢,都没法满足人机协作的要求,本文提出了一种分数阶导纳控制算法用于实现人机协作,同时提升控制系统的响应性能。设计了逆动力学鲁棒控制,以实现对未知交互力的鲁棒性。将所提的控制算法应用于经典的Stewart并联平台,并对并联平台的响应性能以及跟踪性能进行了多次实验与评估。结果表明,所述的方法使Stewart并联平台在负载任务最重的Z轴平移自由度上对未知交互力的响应速度平均提升51.16%,同时跟踪误差峰值平均降低了50.83%。The traditional tandem robots are of limited carrying capacity and low accuracy,and the closed-loop structure of parallel robots increases the difficulty in solving dynamics and has a slow response speed.Both structures can’t meet the requirements of human-robot collaboration.This paper proposes a fractional-order admittance control algorithm to address these issues to improve response performance while enabling human-robot collaboration.An inverse dynamics robust control algorithm is also designed to ensure robustness against unknown interaction forces.The proposed control algorithm is applied to a classical Stewart parallel platform,and its response and tracking performance are evaluated through experiments.The results show that the described method resulted in an average 51.16%increase in the response speed of the Stewart parallel platform to unknown interaction forces in the Z-axis translational degree of freedom,where the loading task is heaviest,as well as an average reduction in the peak tracking error of 50.83%.

关 键 词：协作机器人 并联机器人 导纳控制 分数阶控制 鲁棒控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]