基于被动柔顺性的机器人位置/力控制

Position/Force Control of Robot Based on Passive Compliance

为了精确控制具有被动柔顺性末端执行器的平面多关节机器人,提出了一种被动关节与主动关节分离的外环位置/力串行控制策略。位置/力控制策略分析表明,基于被动柔顺性的机器人可以通过主动关节控制实现被动柔顺末端的弱控制。基于此,提出了先进行位置控制,然后保持位置不变进行力控制的串行控制策略,既实现了位置/力的独立控制,又解决了被控参数的冲突问题。基于几何法,进行了逆运动学求解。在MATLAB7.0平台上仿真研究了分度角分别为0、30°、60°与90°时的轨迹扫查情况,表明位置与力控制都能够快速收敛并满足一定的精度。在实际的系统上,进行了扫查试验,结果表明提出的控制策略是切实可行的。

A kind of passive compliance control strategy was presented to realize the precise inspection of plane multi--joint robot with passive compliance end-effector. The strategy with outer loop position and serial force controlling separates the passive joints from the active joints. Analyses demonstrate that plane multi-joint robot with passive compliance end--effector can be controlled by the active joints indirectly. After completing position control, the position was fixed and then the force control was made, which resolved the problem of parameter contradiction when position and force control were made simultaneously. Based on geometrical relationship, backward kinematics resolution was obtained, inspection process at graduations in degree such as 0,30°,60° and 90°was studied through simulation in MATLAB 7.0. Inspection experiments were made in real system. Researches indicate that the control strategy is astringed quickly with high precision.