【摘要】 当空间机械臂执行任务时与环境相接触,机械臂末端工具和目标之间可能存在很大的接触力.为了将接触力限制在一定范围内,本文提出了基于位置控制内环的阻抗控制对机械臂末端精细工具进行柔顺控制的方法.该方法建立了机械臂末端工具的位姿与接触力/力矩之间的动态关系,使用关节位置/速度传感器和腕力传感器的测量来得到关节角、关节角速度和末端接触力反馈,使得机械臂末端执行器根据反馈作出相应的顺应性运动.研究将阻抗控制应用在复杂精细的末端工具上,将位置和姿态同时纳入柔顺控制器的设计中,实现了末端位置和姿态的综合控制.最后本文以螺钉拆卸为例,对提出的末端柔顺控制律进行位姿控制和接触力控制的仿真验证.仿真结果表明,本文设计的柔顺控制器可以有效控制接触力在合理范围内,并在误差很小的范围内实现位置和姿态的综合控制,对实际工程应用中,机械臂末端的精细操作具有指导意义.更多还原

【Abstract】 When the space manipulator in contact with the environment during the task, there may be a large contact force between the end-effector and the target. In order to limit the contact force within a certain range, a compliance control method based on impedance control including inner position control is proposed in this paper. This method establishes the dynamic relationship between the position of the endeffector and the contact force, using the measurement of joint position/velocity sensor and wrist force sensor to obtain the feedback of joint angle, joint angular velocity and contact force. And then the corresponding acceleration is produced to make the end-effector perform the corresponding compliant motion.The study applies impedance control to complex and sophisticated end tools, incorporating position and attitude into the design of the compliant controller, enabling comprehensive control of the end position and attitude. In the end, the screw disassembly is taken as an example to verify the pose control and contact force control of the proposed end compliance control law. Finally, taking the screw removal as an example,the proposed end compliance control law is simulated to verify the position and contact force control effects. The simulation results show that the proposed compliant controller can effectively control the contact force within a reasonable range and achieve integrated control of position and attitude.更多还原