摘要
双臂机器人在运动过程中容易受到关节的限制,致使运动轨迹在某段时间内输出误差较大。对此,采用阻抗控制机器人手臂关节运动,并对跟踪角位移进行误差仿真。创建了双臂机器人运动模型简图,通过雅克比矩阵推导出机器人手臂逆运动学方程式。建立分层优先级任务体系结构,分析了冗余机械臂关节规避极限状态,设计了阻抗控制方法。采用Matlab软件对冗余机械臂阻抗控制效果进行仿真,并与无阻抗控制效果进行对比。结果显示:在无阻抗控制条件下,冗余机械臂在某段时间内会偏离期望运动轨迹,造成误差较大;在有阻抗控制条件下,冗余机械臂在整个运动时间内,都能很好地实现轨迹跟踪任务,输出误差较小。因此,采用阻抗设计方法,双臂机器人能够避免关节的限制,更好地完成轨迹跟踪任务,提高跟踪精度。
In the course of motion,the dual-arm robot is easily limited by the joint,which results in a large error in the output of the trajectory in a certain period of time.In this regard,the impedance is used to control the joint motion of the robot arm,and the error simulation of tracking angular displacement is carried out.A sketch of the motion model of the two-arm robot is created,and the inverse kinematics equation of the robot arm is deduced by Jacobian matrix.The hierarchical priority task architecture is established,the limit state of joint avoidance of redundant manipulator is analyzed,and the impedance control method is designed.The impedance control effect of redundant manipulator is simulated by using Matlab software,and compared with that of non-impedance control.The results show that the redundant manipulator will deviate from the desired trajectory in a certain period of time without impedance control,resulting in larger errors.Under the impedance control condition,the redundant manipulator can achieve the trajectory tracking task well in the whole movement time,and the output error is small.Therefore,using impedance design method,the dual-arm robot can avoid the limitation of the joint,better complete the trajectory tracking task and improve the tracking accuracy.
作者
杨帅
薛岚
YANG Shuai;XUE Lan(Jiangsu Engineering Technical R&D Center for Equipment Manufacturing of Electronic Products,Huaian 223003,Jiangsu,China;Department of Automation,Huaian College of Information and Technology,Huaian 223003,Jiangsu,China)
出处
《中国工程机械学报》
北大核心
2020年第3期195-198,204,共5页
Chinese Journal of Construction Machinery
基金
江苏省高等学校自然科学研究资助项目(18KJB510003)
淮安市第2期“533英才工程”科研资助项目(HAA201735)
淮安市智能制造重点实验室资助项目(HAP201805)。
关键词
双臂
机器人
阻抗控制
关节限制
误差
double arms
robot
impedance control
joint limitation
error
