基于模型偏差补偿原理的机器人双臂协调控制

Robot Dual-Arm Coordination Control Based on Modeled Deviation Compensating Principle

本文讨论双臂协调操作物体的问题,在操作空间中给出双臂耦合动力学模型,基于这一模型,针对系统的未建模动态,利用模型偏差补偿原理,设计出一种双臂协调控制算法,并证明当未建模动态满足一定条件下控制系统的全局渐近稳定性。本文还通过仿真研究了为完成协调任务对物体柔性的要求,物体质量、刚度对动力学耦合程度的影响,规划轨迹速度、加速度对协调控制的影响。

The control strategy of two mainpulators handling a common object is studied in this paper. The dynamic model of two coupled manipulators is first derived. Based on the principle of compensating the model de-viation a dual-arm coordination control algorithm is proposed. The global asymptotic stability of the proposed con-trol scheme can be guaranteed if the unmodelled dynamics satisfies certain condition. The effect of the stiffness of the object on the compliant operation of the two coupled manipulators is studied. The effect of the trajectory veloci-ty and acceleration on the coordinated control is also discussed.