攀爬机器人钩刺变体机构的时变阻抗控制

Variable impedance control of hook-and-spike variant mechanism of climbing robot

针对攀爬机器人操作具有耦合力-位置约束特点,需要同时稳定攀附机构期望的操作力和位置,研究了攀爬机器人钩刺变体机构的时变阻抗控制。在构造新的Lyapunov函数的基础上,提出了一种时变阻抗控制律,并对闭环控制系统的稳定性进行了分析。借助刚体模型实现攀爬机器人钩刺变体机构的时变阻抗控制。数值仿真和实验证明了应用时变阻抗控制方法的可行性,以及钩刺变体机构对机器人在复杂表面中攀爬能力的提升。

The climbing robots on different facilities are of great significance for the application of pioneering robots in extreme complex environments.In these application scenarios,some operation tasks are those with coupling force-position constraints.To simultaneously stabilize the desired operation force and the position of the hook-and-spike variant mechanism,variable impedance control issues of the climbing robots were investigated.On the basis of constructing a novel Lyapunov function,a variable impedance control law was presented and the stability of the closed-loop system has also been analyzed.Then the variable impedance control for hook-and-spike variant mechanism was realized by the aid of a rigid-body model.Numerical simulations and experiments demonstrate the feasibility of applying variable impedance control methods and the improvement of the hook-and-spike variant mechanism on the robot’s climbing ability in complex surfaces.