液压机械臂的接触作业控制方法进展

Research Progress on Contact Operation Control Methodof the Hydraulic Manipulator

【目的】液压机械臂具备负载能力强、响应速度快、无极调速范围大、受辐射电磁干扰小等特点,被广泛应用于隧道掘进装备、桥梁建设装备等交通基础设施建设领域。文章旨在总结液压机械臂的接触作业控制方法,介绍力与位置精确协调控制方法,最后对其未来的研究方向提出展望。【方法】在实际工程应用中,液压机械臂常常要与外界环境进行接触,而其接触作业控制涉及与位置的精确协调控制,而力与位置的精确控制需要精准的动力学模型和末端力的精准估计。【结果】国内外学者针对力与位置精确协调控制进行深入研究,在实现液压机械臂稳定、准确、安全接触作业取得了一些重要的研究成果。【结论】针对这些成果,阐述了液压机械臂在动力学建模、动力学参数辨识、末端接触力估计方法和柔顺控制等方面的研究内容,并且对下一步的研究提出了建议和展望。

【Objective】The hydraulic manipulator has the characteristics of strong load capacity,fast response speed,wide range of stepless speed regulation,small radiation electromagnetic interference and so on.It is wide‐ly used in the construction of transportation infrastructure,such as tunnel boring and bridge construction equip‐ments.This paper aims to summarize the contact operation control methods of hydraulic manipulator,and intro‐duce the precise coordination control methods of force and position,and finally provide an outlook on future re‐search directions.【Method】In practical engineering applications,the hydraulic manipulator often has contact with the external environment,and its contact operation control involves the precise coordinated control of force and position.However,the precise control of force and position requires an accurate dynamic model and accu‐rate estimation of terminal force.【Result】Both domestic and international scholars have conducted in-depth re‐search on the precise coordination control of force and position,achieving significant results in ensuring stable,accurate,and safe contact operations of hydraulic robotic arms.【Conclusion】Based on these achievements,this paper describes the hydraulic manipulator dynamics modeling,dynamics parameter identification,end contact force estimation methods,and compliance control.Furthermore,it put forward suggestions and prospects for re‐search.