面向轴孔装配任务的双臂机器人控制策略  

Control Strategy of Dual-Arm Robot for Peg-in-Hole Assembly Tasks

作　　者：詹博文 郭瑞科[1,2] 龚宇莲 何英姿[1,2] 张海博 ZHAN Bowen;GUO Ruike;XU Shuanfeng;WEI Chunling;ZHANG Haibo(Beijing Institute of Control Engineering,Beijing 100094,China;National Key Laboratory of Space Intelligent Control,Beijing 100094,China)

机构地区：[1]北京控制工程研究所,北京100094 [2]空间智能控制技术全国重点实验室,北京100094

出　　处：《空间控制技术与应用》2025年第1期85-95,共11页Aerospace Control and Application

基　　金：国家自然科学基金资助项目(U23B2036);空间智能控制技术全国重点实验室基金资助项目(2023JCJQLB00610)。

摘　　要：为了高效、安全地完成轴孔装配任务,提出一种双臂机器人协调柔顺控制策略.根据轴零件、孔零件自身的结构特点,设计一种满足小容差限制的一次装配成型任务方案.在此基础上,基于双臂主从协调的思想,对任务进行了分解和分配.同时以消除孔零件和轴零件之间的位姿偏差为目标,规划了平滑的双臂运动轨迹.考虑到零件之间柔顺接触的要求,构建一种自适应阻抗控制器.为避免接触力往复震荡带来的控制失稳问题,在该控制器中加入了刚度系数自适应调节功能.基于UR10e机械臂搭建了双臂机器人轴孔装配实验平台,并且通过实验验证了提出的双臂机器人协调柔顺控制策略的有效性.In order to efficiently and safely fulfill the task,this paper proposes a coordinated compliance control strategy for dual-arm robots.Firstly,based on the structural characteristics of the holes and pegs,a task plan that completes the assembly in one attempt is designed to meet the requirements of small tolerances.Implementing the idea of dual-arm master-slave coordination,the task plan is decomposed and assigned to two manipulators.Then,with the goal of eliminating pose deviations between the hole part and the peg part,a smooth motion trajectory is planned.In addition,considering the requirement of compliant contact between the hole part and the peg part,an adaptive impedance controller is constructed.In order to avoid control instability caused by the reciprocating oscillation of contact forces,an adaptive law for the stiffness coefficient is introduced to the controller.Finally,an experimental platform for the peg-in-hole is built based on the UR10e robotic arm,and the effectiveness of the proposed coordination compliance control strategy for dual-arm robots is verified through experiments.

关 键 词：轴孔装配 双臂机器人 任务分解与分配 轨迹规划 柔顺控制 

分 类 号：V19[航空宇航科学与技术—人机与环境工程] TP242[自动化与计算机技术—检测技术与自动化装置]