基于变阻抗的人机协作避障技术研究

Research on Human-Robot Cooperative Obstacle Avoidance Technology Based on Variable Impedance

为避开随机出现在协作机器人工作环境中的障碍物,提出了基于变阻抗的人机协作方式实现避障。首先建立了人机协作时机器人末端的阻抗模型,然后在仿真软件中对阻抗模型中的参数进行分析;然后考虑到机器人工作任务的不同,设计了基于接触力和位置的变阻尼阻抗控制策略,并提出了协作系数实现对人机协作过程中主被动角色的确定,同时完成对整个人机协作控制系统的设计;最后设计相关实验,验证所提出的基于变阻抗控制的人机协作避障技术的有效性。

In order to avoid obstacles randomly appearing in the working environment of cooperative robots,this paper proposes a human-machine cooperation method based on variable impedance to avoid obstacles.Firstly,the impedance model of the robot terminal is established,and then the parameters of the impedance model are analyzed in the simulation software.Then,considering the different tasks of the robot,the variable damping impedance control strategy based on contact force and position is designed,and the cooperation coefficient is proposed to determine the active and passive roles in the human-machine cooperation process,and the whole human-machine cooperation control system is designed.Finally,relevant experiments are designed to verify the effectiveness of the man-machine cooperative obstacle avoidance technology based on variable impedance control proposed in this paper.