面向清洗作业的车载机械臂柔顺控制研究

Research of Compliance Control of Vehicle-Mounted Mechanical Arm for Cleaning Operation

长行程机械臂在清洗作业中要求末端与清洗表面之间的接触力受到约束,以防止被清洗表面受到损害。针对这一问题,提出了一种基于位置的柔顺控制策略,引入清洗机械臂末端力矩信息,构造了一种在离线轨迹规划基础上的实时阻抗修正方法,从而有效改善了清洗过程中的接触力控制效果。

Long-stroke robot arm in the cleaning operation requires that the contact force between the end and the cleaning surface is constrained to prevent damage to the cleaning surface,in view of this problem,a soft position-based control strategy is proposed,the introduction of cleaning robot arm end torque information,the construction of a real-time impedance correction method based on offline trajectory planning,thus effectively improving the contact force control effect in the cleaning process.