仿人机器人协调阻抗控制算法

Coordinated impedance control algorithm of humanoid robot

针对仿人双臂机器人在未知环境下协调操作时操作物和机械臂轨迹跟踪精度低的问题,提出一种基于阻抗控制的仿人机器人协调控制算法。通过引入变加权矩阵,建立了操作物与仿人机器人双臂的约束动力学模型;利用双臂广义动量,设计适用于仿人机器人紧协调操作的动量扰动观测器;结合阻抗控制模型,设计仿人机器人协调阻抗控制算法。仿真实验结果表明,本算法可减小双臂机器人协调操作时操作物的跟踪误差,提高紧协调操作的精度。

Aiming at the problem that the tracking accuracy of the operating object and manipulator is low when the humanoid dual-arm robot is coordinated in an unknown environment,a coordinated control method based on impedance control is proposed.Firstly,through introducing the variable weight matrix,the constraint dynamics model of the dual-arm and operating object is established.Then the variable weight matrix is introduced.Using the generalized momentum of the dual-arm,a momentum disturbance observer suitable for the compact coordination operation of the humanoid robot is designed.Then,combined with the impedance control model,the humanoid robot coordinated impedance control method is designed.Finally,the proposed algorithm is verified by simulation experiments.The verification results show that the method can effectively reduce the trajectory error of the operating object during the coordinated operation of the dual-arm and improve the accuracy of compact coordinated operations.