空间包络式抓捕机构非接触/接触一体化导纳控制

Integrated Contact and Non-contact Admittance Control for Spatial Envelope Capture Mechanism

研究了一种具有闭环约束的空间包络式抓捕机构运动建模和非接触与接触一体化导纳控制。该抓捕机构具有可控的包络结构,能够通过与非合作目标发生多点多次接触,实现柔顺捕获。给出了空间包络式抓捕机构显式的动力学模型和接触模型。设计了具有统一形式的非接触与接触导纳控制策略。该策略在机器人接近目标过程中采用非接触式导纳控制,以降低机械臂与目标物体首次碰撞的接触力,在捕获目标过程中采用接触式导纳控制,减少碰撞次数,获得更大的夹持接触力。数值仿真展示了控制策略的有效性。

A spatial envelope capture mechanism with closed-loop constraints is studied for motion modeling and integrated contact and non-contact admittance control.The capture mechanism has a controllable envelope structure,which can achieve flexible capture through multiple contacts with noncooperative targets.The explicit dynamic model and contact model of the spatial envelope type capture mechanism are provided.A unified form of non-contact and contact admittance control strategy is designed.This strategy adopts non-contact admittance control during the robot's approach to the target to reduce the contact force between the robotic arm and the target object for the first collision.During the target capture process,contact admittance control is used to reduce the number of collisions and obtain greater clamping contact force.Numerical simulations demonstrate the effectiveness of the proposed strategy.