气动轻量型机械臂伺服控制系统和碰撞检测方法研究  

Servo Control System and Collision Detection Method of Pneumatic Lightweight Manipulator

作　　者：张雲枫 韩建海[1,2] 李向攀 郭冰菁[1,2] ZHANG Yun-feng;HAN Jian-hai;LI Xiang-pan;GUO Bing-jing(School of Mechatronics Engineering,Henan University of Science&Technology,Luoyang,Henan 471003;Henan Provincial Key Laboratory of Robotics and Intelligent Systems,Luoyang,Henan 471003)

机构地区：[1]河南科技大学机电工程学院,河南洛阳471003 [2]河南省机器人与智能系统重点实验室,河南洛阳471003

出　　处：《液压与气动》2019年第3期80-86,共7页Chinese Hydraulics & Pneumatics

基　　金：河南省自然科学基金(162300410082);河南省教育厅科学技术研究重点项目(14A460025)

摘　　要：针对服务型机器人对系统的柔性、安全性提出的高要求,开展了气压驱动轻量型机械臂的伺服控制系统和碰撞检测方法研究。设计制作了二自由度轻量型机械臂样机,建立了机械臂的运动学和动力学方程,对系统的摩擦力矩进行了辨识。采用PID与加速度反馈和摩擦力前馈补偿控制策略,解决了机械臂关节旋转过程中的低速爬行问题。研究了基于被动柔顺控制和动力学方程的碰撞检测方法,实现了机械臂的防碰撞功能,提高了系统的安全性。通过对实验样机的试验测试,验证了机械臂的位置伺服控制策略和碰撞检测方法的有效性。Aiming at high requirements of service robot on system flexibility and security, we carry out a study of servo control system and collision detection method of light-weight mechanical arm driven by air pressure. And then we design and manufacture a 2-DOF lightweight mechanical arm prototype, and establish kinematics and dynamics equations of mechanical arm and identify friction moment of the system. By using PID and acceleration feedback and friction feed-forward compensation control strategy, we solve the problem of slow crawl during rotation of mechanical arm joints. Also, we study the collision detection method based on passive compliance control and dynamic equation and realize anti-collision function of the mechanical arm and improve the safety of the system. Finally, we verify the effectiveness of position servo control strategy and collision detection method of mechanical arm through the test of experimental prototype.

关 键 词：气动轻量机械臂 气动伺服控制 碰撞检测 半实物仿真 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]