基于腕力传感器的绳驱动拟人臂的力/位混合控制研究

Control hybrid position/force of cable-driven robotic arm with wrist force sensors

该文在研究7-DOF绳驱动拟人臂运动控制的基础上,结合安装在关节处的角度传感器的反馈信息,提出一种改进的耦合球关节闭环控制算法,使拟人臂的运动精度大大提高;同时利用安装在末端的腕力传感器的反馈信息,提出一种基于阻抗控制的力位混合控制算法,并讨论了容易建模和不易建模的两种环境下的轨迹规划问题,结合PC+PMAC分级控制系统和上面两种算法完成了7-DOF拟人臂的高精度位置伺服控制和与外界环境的接触力控制。实验和仿真结果表明算法的正确性和控制的有效性。

This paper studies motion control of a 7-DOF cable-driven robotic arm. With the feedback of angle sensors which are installed on the joints, an improved close-loop control algorithm is proposed to make the movement accuracy of the robotic arm much better. With the information from wrist force sensors installed on the end of arm, the authors put forward an impendence-control method which simultaneously controls the position and the interact force with environment, and take about the path plan problem in two situations, i.e., easily modeling and hardly modeling. With the mentioned algorithm and the PC＋PMAC multi-level control system, the authors efficiently control the position and the interact force with environment for the 7-DOF robotic arm. Experiment and simulation results indicate the correctness and effectiveness of the proposed algorithms.