摘要
为了研究基于关节力矩信息的笛卡尔阻抗控制策略及摩擦补偿的影响,利用关节本身具有的传感器,进行了辨识谐波驱动摩擦参数、摩擦补偿和笛卡尔阻抗控制的实验研究.与传统的基于机器人末端力/力矩信息的笛卡尔阻抗控制方案不同,考虑了5种基于关节力矩的笛卡尔阻抗控制方案,包括笛卡尔空间/关节空间基于力的、笛卡尔空间/关节空间基于位置的方案和刚度控制.其中,前4种方案分别在有/无摩擦补偿的条件下进行了相应的实验验证.实验比较结果表明:对于基于关节力矩信息来实现笛卡尔阻抗控制的机器人,基于力的阻抗控制策略比基于位置的策略更适合,并且摩擦对这类笛卡尔阻抗控制的稳定性有积极影响.
In order to investigate the joint torque-based Cartesian impedance control strategies and the influence of compensations for friction, an experimental study on the identification of friction parameters, friction compensation and the Cartesian impedance control are developed for the harmonic drive robot, by using the sensors available in the joint itself. Different from the conventional Cartesian impedance control schemes which are mostly based on the robot end force/torque information, five joint torque-based Cartesian impedance control schemes are considered, including the force-based schemes in Cartesian/joint space, the position-based schemes in Cartesian/joint space and the stiffness control. Four of them are verified by corresponding experiments with/without friction compensations. By comparison, it is found that the force-based impedance control strategy is more suitable than the position-based one for the robot based on joint torque feedback and the friction has even a positive effect on Cartesian impedance control stability.
基金
The National Natural Science Foundation of China(No.60675045)
the National High Technology Research and Development Program of China (863Program) (No.2006AA04Z255)
关键词
笛卡尔阻抗控制
谐波驱动
摩擦辨识
摩擦补偿
关节力矩
Cartesian impedance control
harmonic drive
friction identification
friction compensation
joint torque
