基于对象阻抗控制的多机器人协调方法——模型、算法与实验

COORDINATED CONTROL OF MULTI-ROBOTS BASED ON THE OBJECT IMPEDANCE——MODEL, ALGORTHM AND EXPERIMENTAL RESULTS

推广了单机械手的阻抗控制思想 ,基于被操作对象的目标阻抗关系 ,推导了面向对象的多手协调动力学模型和控制算法 .该算法包含不同的抓持类型 ,考虑对象与环境的接触点信息 ,能够补偿整个系统的动力学特性 ,同时实现对象运动、外力和内力的控制 ;另外 ,该算法具有模块化结构 ,它的分层和并行实现缩短了双手的控制周期 .在两台 PUMA5 6

Extending the idea of impedance control for single manipulator, we derived the dynamic model and object-oriented control algorithm for cooperative multi-robots based on the object target impedance relationship. This algorithm accommodates various grasp types, considers the information at the contact point of the object and the environment, compensates the dynamics of the system, and controls the object motion as well as the result force and internal force at the same time. On the other hand, this algorithm has a modular structure and its hierarchic and parallel implementation shortened the control period. At last, the experimental results on two PUMA 562 manipulators verified the efficiency of this method.