摘要
研究了基于混合位置/力矩控制策略的机器人灵巧手指基关节的柔顺控制方法。该基关节有2个自由度,运动轴线垂直相交。在自由空间中和约束空间的位置控制方向上,采用具有鲁棒性平滑非线性反馈(SRNF)的补偿器的PD位置控制算法实现精确、平滑的轨迹跟踪;在约束空间的力控制上,采用改进的纯积分力控制算法实现精确的力控制。该算法具有计算量小和精度高的特点。以HIT/DLR灵巧手为对象进行了实验,结果验证了该控制方法的有效性。
A compliance control method is described for the base joint of robot dexterous fingers.The base joint has two degrees of freedom and two motion axes cross orthogonally at one point.In the free space and in the position-controlled direction of the constrained space,a PD controller with smooth non-linear robust feedback（SRNF） is used to realize accurate and smooth trajectory tracking.In the force-controlled direction of the constrained space,a modified pure-integrated force controller is utilized to accurate force tracking.The proposed algorithm features low computational cost and high accuracy.Experiments on the HIT/DLR hand are carried out,and the results verify the effectiveness of the proposed method.
基金
新世纪优秀人才支持计划资助项目(NCET-09-0056)
国家高技术研究发展计划资助项目(2009AA043803)
哈尔滨市科技创新人才基金资助项目(RC2007QN006012)
关键词
机器人
柔顺控制
灵巧手指
关节
位置控制
力控制
robots
compliance control
dexterous fingers
joints
position control
force control
