仿猿双臂手机器人连续摆荡移动优化与实验

Continuous brachiation optimization and experiments for a bionic-ape dual-arm-hands robot

针对仿生悬摆机器人在连续移动过程中不能可靠抓握目标杆的问题,提出调整双手抓杆构形使势能最大、摆荡运动关节轨迹优化、大阻尼切换与大阻尼抓杆的分阶段控制策略.给出分阶段控制下各主动驱动关节PID控制器的期望目标关节轨迹计算公式和各阶段光滑运动的切换条件,利用ADAMS与MATLAB/Simulink软件进行仿猿双臂手机器人连续抓握不同间距目标杆的移动控制仿真.用自行研制的BARDAH-I型仿猿双臂手机器人分别进行了起始杆与中间杆间距1m,中间杆与目标杆间距依次为0.5、0.6、0.7、0.8m总计12次实验,实验成功率100%.实验结果证明所提出的控制方法能够有效提高仿猿双臂手机器人连续移动的成功率.

Regarding the problem that the bionic suspension pendulum robot can not grasp the target rod reliably in continuous brachiation process, we propose a staged control strategy, which includes an optimization method to maximize potential energy by adjusting the robot arms’ configuration, a swinging motion optimization method, and a big damping switch and grasp method. For each motion stage, we deduce the desired trajectory of the PID controller of each active joint and the smooth switching condition. Simulations of continuous brachiation between bars with different distance are conducted in the ADAMS software and the MATLAB/Simulink software. Then brachiation experiments are conducted by using the BARDAH robot developed by our lab. In the experiments, the initial bar distance is 1 m and the target bar distance is respectively chosen from 0.5m, 0.6 m, 0.7 m and 0.8m. For each target bar distance, three experiments are repeated and the success rate of the total 12 brachiation experiments is 100%, which indicates that our control method can effectively improve the success rate of the robot continuous brachiation motion.