双臂人形机器人的阻抗一致性控制

Impedance Consistency Control of Humanoid Robots with Two Arms

为了使机器人的工作适应人的特性,必须建立机器人的控制系统。作为在双臂机器人系统中的广泛应用的重要问题之一,阻抗控制重要的受限条件是缺乏一个广泛接受的框架来综合阻抗控制参数,以确保稳定的接触过渡和相互作用过程,并确保期望的接触性能。以此为出发点,这里提出一种新设计、规划和编程框架为双臂人形机器人的阻抗一致性控制提供高效和灵活的算法和工具,促进未来双臂机器人在复杂装配任务中的应用。通过对新型工位机器人双臂系统的初步测试,验证了该框架的适用性和可行性。

In order to adapt the robot’s work to human characteristics, it is necessary to establish the robot’s control system. As one of the important problems widely used in dual-arm robot systems,the important limitation of impedance control is the lack of a widely accepted framework to synthesize impedance control parameters to ensure stable contact transition and interaction process and desired contact performance. Taking this as a starting point,it proposes a new design,planning and programming framework to provide efficient and flexible algorithms and tools for impedance consistency control of dual-arm humanoid robots and promote the application of dual-arm robots in complex assembly tasks in the future. The applicability and feasibility of the framework are verified through the preliminary test of the dual-arm system of the new-type station robot.