基于导纳控制的机器人恒力按摩研究  

Research on robot massage with constant force based on admittance control

作　　者：刘梦麟 戴福全 杨涛 LIU Menglin;DAI Fuquan;YANG Tao(School of Mechanical&Automotive Engineering,Fujian University of Technology,Fuzhou 350118;Fujian Provincial Key Laboratory of Force Measurement and Testing,Fuzhou 350118)

机构地区：[1]福建工程学院机械与汽车工程学院,福建福州350118 [2]福建省力值计量测试重点实验室,福建福州350118

出　　处：《机械设计》2025年第2期116-122,共7页Journal of Machine Design

基　　金：福建省自然科学青年基金(2018J05099);福建省社会科学基金(FJ2021B187);福建工程学院科研启动基金(GY-Z20089);福建省力值计量测试重点实验室(福建省计量科学研究院)开放课题基金资助(FJLZSYS202105)。

摘　　要：传统的按摩器械存在力度不可控、精度不够高、模式单一的问题。机器人按摩具有力度可控、模式灵活多样的优势,近年来受到研究者的关注。文中将六维力传感器与协作机器人结合,通过传感器采集按摩过程中的交互力信息,采用导纳控制算法实现机器人按摩的柔顺性控制。通过建立末端执行器与人体的接触力模型,分析了在人体刚度和位置信息未知的情况下,系统模型参数对力度控制的影响。在人体上进行了定点按压、往复推拿等按摩试验。试验结果表明:该方法在按摩过程中具有良好的力∕位控制效果,能够满足使用需求。Traditional massage equipment suffers uncontrollable strength,insufficient precision and single mode.Robot massage boasting the advantages of controllable strength as well as flexible and diverse modes has attracted the attention of researchers in recent years.In this article,the six-dimensional force sensor and the collaborative robot are combined;the sensor is used to collect the information on the interactive force during the massage process;the admittance-control algorithm is employed to ensure the compliance control of robot massage.By setting up the contact-force model of the end effector and the human body,the influence of the system model parameters on the force control is explored when the human body’s stiffness and position are unknown.Finally,the massage experiments such as fixed-point pressing and reciprocating massage are performed on the human body.The experimental results show that this method ensures desirable good force∕position control during the massage process,which meets the needs of utilization.

关 键 词：机器人按摩 力反馈 导纳控制 柔顺性控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]