摘要
为了提高液压机械臂的人机物理接触安全性,本文提出一种基于碰撞检测算法的柔顺性评价方法,首先设计了一种动量偏差观测器用于在无外加传感器的条件下间接获取碰撞力,然后借助机械臂碰撞仿真系统对动量偏差观测器的有效性进行验证,最后建立了外力矩观测值与机械臂柔顺性相关参数的多元非线性回归模型。结果表明,通过动量偏差观测器能够准确观测机械臂碰撞力的变化情况,且外力矩观测值与机械臂柔顺性相关参数之间存在明显的函数拟合关系,利用其可对液压机械臂柔顺性进行有效评价。
In order to improve the safety of human-machine physical contact of hydraulic manipulators,a method of compliance evaluation based on the collision detection algorithm was proposed.Firstly,a momentum deviation observer was designed to obtain the impact force indirectly without external sensors.Then,the effectiveness of the momentum deviation observer was verified by the collision simulation system of the manipulator.Finally,a multivariate nonlinear regression model of the external torque observations and the parameters related to the compliance of the manipulator was established.The results show that the change in the impact force of the manipulator can be accurately reflected by the momentum deviation observer,and there is an obvious function fitting relationship between the external torque observations and the parameters related to the compliance of the manipulator,which can be used to evaluate the compliance of hydraulic manipulators.
作者
刘纯键
高红星
蒋林
周玲
赵慧
Liu Chunjian;Gao Hongxing;Jiang Lin;Zhou Ling;Zhao Hui(Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education,Wuhan University of Science and Technology, Wuhan 430081,China;Wuhan Institute of Marine Electric Propulsion, Wuhan 430064,China;Institute of Robotics and Intelligent Systems, Wuhan University of Science and Technology, Wuhan 430081,China)
出处
《武汉科技大学学报》
CAS
北大核心
2021年第5期366-373,共8页
Journal of Wuhan University of Science and Technology
基金
国家自然科学基金资助项目(61105086)
武汉市应用基础前沿资助项目(2019010701011404).
关键词
液压机械臂
柔顺性
碰撞检测算法
外力矩
动量偏差
碰撞仿真
hydraulic manipulator
compliance
collision detection algorithm
external torque
momentum deviation
collision simulation
