双臂机器人轴孔装配的分级控制

Hierarchical control of dual-arm robot parts mate

设计了双臂协调进行轴孔装配的分级控制器。该控制器由管理级和执行级组成,管理级在进行主臂的期望运动路径规划的同时,根据采样到的主臂信息,对从臂进行期望关节运动角的递推,而执行级只需执行管理级输出的期望值。执行级的控制方式与普通单臂机器人控制方式一样。仿真结果表明所设计的分级控制器能顺利完成双臂的协调轴孔装配作业。

This paper designs a hierarchical controller for dual-arm robot to pole-in-hole insertion.The controller is composed of supervisory and executive. The supervisory plans master'smovement, and at the same time calculate reference joint angle of follow through sampledinformation of master. The executive is only to execute the output of supervisory. Thecontrol of executive is similar to a single arm robot. Simulation results show that usingthis hierarchical controller, the dual-arm robot can complete pole-in-hole insertion smoothly