重载液压机械臂末端夹持装置柔顺控制器研究

Study of Compliant Controller for Hydraulic Mechanical Arm End Clamping Device

灾难救援机器人能够在危险环境下代替人类实施救援任务,由于灾害现场复杂多变,空间紧张,救援机器人往往需要在重载条件下进行工作。大型液压机械臂末端夹持装置,存在阻尼低、刚度弱、易振荡等固有缺陷,且夹持装置直接与环境接触,其耦合规律复杂,阻尼/刚度性能难以精细调控,夹持装置不能实现柔顺控制,极大限制了机械臂与环境的交互,甚至会造成人员伤亡和财产损失。采用阻抗控制中的导纳控制,对救援机器人的末端液压夹持装置进行柔顺控制,通过AMESim-Simulink联合仿真平台,搭建夹持装置模型进行仿真验证。仿真结果表明,采用导纳控制器的夹持装置与环境柔顺交互,取得了较好的控制效果。

The disaster rescue robot can carry out rescue tasks in the dangerous environment. Due to the complex and variable disaster scenes and the tight space, rescue robots often need to work under heavy load conditions. The end clamp device of hydraulic mechanical arm has inherent defects such as low damping, weak stiffness and easy oscillation. The clamping device is directly in contact with the environment. The coupling law is complicated, and the damping/stiffness performance is difficult to finely control. The inability to achieve compliance control greatly limits the interaction of the robot arm with the environment and can even causing casualties and property damage. A kind of impedance control, admittance control, is used to control the end of the rescue robot’s hydraulic clamping device. The AMESim-Simulink joint simulation platform is used to build the clamping device model for simulation verification. The results show that the clamping device with the admittance controller interacts with the environment and achieves good control results.