【摘要】 针对柔性关节机械臂,本文阐述了机械臂能够像人手一样安全操作的方法。3种方法相结合,以便机械臂能够柔顺的接触操作对象并控制接触力在预设定范围内。首先,提出采用虚拟分解法的笛卡尔阻抗控制用来实现机械臂在笛卡尔空间的柔顺控制。其次,引入自适应关节动态补偿器使得机械臂能够实施更为精确的控制。最后,设计了基于笛卡尔力反馈的实时路径规划,从而使机械臂能够检测碰撞并控制接触力。基于碰撞检测的自适应阻抗控制器能够简化其在机械臂上的实施,保持机械臂对环境的友好操作,并且严格满足系统的全局稳定性。实验在4自由度的卫星在轨自维护机械臂平台得以验证。碰撞检测实验和轨迹跟踪实验结果证明了所提出方法的有效性和可行性。更多还原

【Abstract】 This article provides a flexible-joint-manipulator,which incorporates with three means to make its mechanical arm come into compliant contact with the objects with a force kept within an acceptable range. At first,the Cartesian impedance control law is introduced on the basis of virtual decomposition to realize the compliance control. Then,adaptive dynamic joint compensators on all joints are used to achieve more precise control. Finally,a Cartesian force-feedback path generation is developed for collision detection and force control. Experiments are performed on a 4-degree of freedom (DOF) satellite on-orbit self-servicing (SOOSS) manipulator. The results of the trajectory tracking and collision experiments demonstrate the effectiveness and feasibility of the proposed method.更多还原