一种冗余自由度双臂机器人协调控制器设计

系统仿真学报 ›› 2016, Vol. 28 ›› Issue (8): 1783-1789.

一种冗余自由度双臂机器人协调控制器设计

王美玲^1,2, 骆敏舟^1,2

1.中国科学技术大学自动化系,合肥 230026;
2.中国科学院合肥物质科学研究院先进制造技术研究所,常州 213164

收稿日期:2015-02-05 修回日期:2015-05-30 出版日期:2016-08-08 发布日期:2020-08-17
作者简介:王美玲(1986-),女,安徽,博士生,研究方向为机器人;骆敏舟(1973-),男,安徽,博导,研究员,研究方向为机器人。
基金资助:
江苏省科技支撑计划(BE2013003)

Cooperative Controller Design for Redundant Dual Arm Robot

Wang Meiling^1,2, Luo Minzhou^1,2

1. Department of Automation, University of Science and Technology of China, Hefei 230026, China;
2. Institute of Advanced Manufacturing Technology Hefei Institute of Physical Science, Chinese Academy of Sciences, Changzhou 213164, China

Received:2015-02-05 Revised:2015-05-30 Online:2016-08-08 Published:2020-08-17

摘要/Abstract

摘要： 将冗余自由度双臂协作机器人协调操作分为三种工作模式：双臂独立操作模式、双臂全约束协调操作模式和双臂部分约束协调操作模式。针对以上三种工作模式,分别建立推导双臂及与被操作物体之间相互作用的动力学模型。以被操作任务的运动和力为控制目标,对以上三种模式设计了统一的双臂协调控制器,该控制器可以通过两种基于动力学模型的前馈控制器和计算力矩控制器实施。通过冗余自由度双臂机器人双臂协调操作仿真验证了该控制器的有效性,且仿真结果显示相比于前馈控制器,计算力矩控制器具有较好的轨迹跟踪精度。

关键词: 双臂机器人, 冗余自由度, 动力学, 协调操作, 控制器设计

Abstract: Cooperative operation for a redundant dual arm robot can be divided into three modes, namely, independent mode, full constrained cooperative working mode and partly constrained cooperative working mode. The dynamic equations of both dual arms and the interactions between dual arms and the operating objects were established and derived based on the three modes, and a unified formulation was obtained. With focus on motion and force of the desired task being operated, a unified controller was designed which could be carried out based on two dynamic model based controllers, namely feedforward controller and computer torque controller. Simulations of dual arms cooperative operation were carried out on a redundant dual arm robot, results of simulations were reported and discussed to validate the theoretical results of the proposed controller. Comparing with feedforward controller, the computer torque controller has better trajectory tracking precision.

Key words: dual arm robot, redundant degree of freedom, dynamics, cooperative operation, controller design

中图分类号:

TP242

王美玲, 骆敏舟. 一种冗余自由度双臂机器人协调控制器设计[J]. 系统仿真学报, 2016, 28(8): 1783-1789.

Wang Meiling, Luo Minzhou. Cooperative Controller Design for Redundant Dual Arm Robot[J]. Journal of System Simulation, 2016, 28(8): 1783-1789.

参考文献 9

[1]	Kopf C D, Yabuta T.Experimental comparison of master/slave and hybrid two arm position/force control[C]// Proceedings of IEEE International Conference on Robotics and Automation. USA: IEEE, 1988: 1633-1637.
[2]	丁希仑. 拟人双臂机器人技术 [M]. 北京: 科学出版社, 2011.
[3]	Zhang F H, Hua L, Fu Y L, et al.Dynamic Simulation and Analysis for Bolt and Nut Mating of Dual Arm Robot[C]// Proceedings of IEEE International Conference on Robotics and Biomimetics, Guangzhou, China, USA: IEEE, 2012: 660-665.
[4]	Kruse D, Wen J T, Radke R J.A Sensor-Based Dual-Arm Tele-Robotic System[J]. IEEE Transactions on Automation Science and Engineering (S1545-5955), 2015, 12(1): 4-18.
[5]	华磊. 冗余双臂机器人协调操作方法研究 [D]. 哈尔滨: 哈尔滨工业大学, 2013.
[6]	Luo R C, Shih B H, Lin T W.Real time human motion imitation of anthropomorphic dual arm robot based on Cartesian impedance control[C]// Proceedings of IEEE International Symposium on Robotic and Sensors Environments. USA: IEEE, 2013: 25-30.
[7]	Dennis Heck, Dragan Kosti´c, Alper Denasi, et al.Internal and External Force-Based Impedance Control for Cooperative Manipulation[C]// Proceedings of European Control Conference, Zürich, Deutschland. USA: IEEE, 2013: 2299-2304.
[8]	Jinoh Lee, Pyung Hun Chang, Rodrigo S Jamisola Jr. Relative Impedance Control for Dual-Arm Robots Performing Asymmetric Bimanual Tasks[J]. IEEE Transactions on Industrial Electronics (S0278-0046), 2014, 61(7): 3786-3796.
[9]	J M Tao, J Y S.Luh. Coordination of two redundant robots[C]// Proceedings of IEEE International Conference on Robotics and Automation. USA: IEEE, 1989: 425-430.

[1]	谢鸥, 宋爱国, 朱其新. 机器鱼近壁面波动推进的体表压强特性研究[J]. 系统仿真学报, 2022, 34(4): 870-877.
[2]	樊长佳, 杜炎秋, 梁笛, 胡凯, 黄葭燕. COVID-19期间上海市应急医疗资源配置建模与仿真[J]. 系统仿真学报, 2022, 34(1): 93-103.
[3]	路雪鹏, 尚娇, 赵俊辉, 吕露露, 周丽. 基于系统动力学的新冠病毒传播过程预测[J]. 系统仿真学报, 2021, 33(7): 1713-1721.
[4]	张力菠, 葛禄璐, 陈昌奇, 汤铭端. 电价补贴退坡趋势下户用光伏发展演化的仿真研究[J]. 系统仿真学报, 2021, 33(6): 1397-1405.
[5]	李文翔, 李晔, 董洁霜, 李一鸣. 引入碳交易机制的新能源汽车发展路径研究[J]. 系统仿真学报, 2021, 33(6): 1451-1465.
[6]	付跃强, 夏天添. 基于系统动力学的电动汽车产业发展建模与仿真[J]. 系统仿真学报, 2021, 33(4): 973-981.
[7]	王辉, 吕兴顺. 一种改进的萤火虫算法及在洗出优化中的应用[J]. 系统仿真学报, 2021, 33(2): 306-314.
[8]	李向阳, 汪潇, 张志利, 李亦豪, 龙勇. 基于虚实结合的特装车辆驾驶训练模拟系统[J]. 系统仿真学报, 2021, 33(12): 2919-2934.
[9]	梁丰, 张志利, 李向阳, 李亦豪, 王蓓, 龙勇. 力反馈特种车辆驾驶舱半实物仿真模型研究[J]. 系统仿真学报, 2021, 33(12): 2935-2943.
[10]	张丽娟, 王福昌, 李振刚. 基于元胞自动机的病毒传播和系统仿真模型[J]. 系统仿真学报, 2021, 33(10): 2449-2459.
[11]	李海滨, 王佳亮, 李海燕. 新冠后疫情时代复学风险评估的不确定性量化分析[J]. 系统仿真学报, 2021, 33(1): 13-23.
[12]	黄光球, 王文昕. 城市大气环境极限承载力及调控方法研究[J]. 系统仿真学报, 2021, 33(1): 159-168.
[13]	吕伟, 霍非舟. 道路瓶颈前车辆强制变道汇流过程模拟研究[J]. 系统仿真学报, 2020, 32(9): 1799-1807.
[14]	陈皓琦, 张小红. 双磁控忆阻器动力学模型及FPGA硬件电路实现[J]. 系统仿真学报, 2020, 32(8): 1531-1545.
[15]	熊俊峰, 何玉庆, 韩建达, 苑明哲. 基于LPV模型的水面机器人鲁棒航向控制[J]. 系统仿真学报, 2020, 32(8): 1598-1605.