【作者】 刘翠翠；

【导师】 赵克定；

【作者基本信息】 哈尔滨工业大学 ， 机械电子工程， 2007， 硕士

【摘要】 机器人的柔顺性是指机器人能够对环境顺从的能力,在机器人的控制中起着非常关键的作用。实现柔顺性控制的方法主要有两种:力/位混合控制和阻抗控制。本文所研究的是阻抗控制,它是通过调节机器人末端的阻抗(包括刚度、阻尼和惯量)使力和位置满足期望的动力学关系。其中,按照目标阻抗的实现方式不同,阻抗控制可分为基于位置的阻抗控制和基于力的阻抗控制。本文对后者进行研究。在原有气液联控伺服控制系统基础上,模拟设计了气液联控灵巧手,并将外界环境简化为一弹性环节进行阻抗控制的研究。介绍了气液伺服阻抗控制系统的结构、原理和特点。对该阻抗控制系统进行了理论分析,建立了气液联控灵巧手的数学模型,分析了力跟踪的实现方法和遇到的难点。分别利用离线环境参数估计法、在线环境参数估计法进行了计算机仿真,并建立了系统的神经网络仿真模块,通过仿真证明了这种控制方法的优点。搭建了能够利用计算机进行数据采集和实时控制的气液伺服阻抗控制系统试验台,用一个弹簧和不计质量的薄板来模拟外界环境,并开发了基于Windows操作系统的数据采集软件。通过大量试验研究,得到了力跟踪曲线和位置跟踪曲线,证明了基于力的气液伺服阻抗控制系统实现的可能性。它能够在短时间内实现准确的力跟踪和位置跟踪,试验结果是满意的。更多还原

【Abstract】 Robotic Compliance means the ability of the robot to obey the environment. It is very important in the robot control. There are two methods to actualize the compliance control: Hybrid Force/Position Control and Impedance Control. Impedance Control is studied in this paper. It makes the force and position to fulfill the target dynamics relations through adjusting the impedance in the end of the robot (including the Rigidity, Damp and Inertia). Due to the different actualize ways of target impedance. Impedance Control can be divided as Position Based Impedance Control (PBIC) and Force Based Impedance Control (FBIC).On the basis of former achievement on Pneumatic-Hydraulic-Combination-Control (PHCC) servo system, PHCC robot finger is designed, and research the Impedance Control with predigesting the environment as spring. The structure, principle and traits of the system are introduced. Finish the theoretical analysis of the Impedance Control system, establish the math model of PHCC robot finger, and analyze the force tracking way with the difficulties. Finish the simulation with the off-line environment parameter estimate way and the off-line environment parameter estimate way, and establish the Neural Network (NN) Control model of the system. The advantages of this control method are proved by the simulation.Experimental platform with some of the original equipments being improved of PHCC- Impedance Control servo system is established on which data sampling and computer simultaneous controlling can perform. A spring and a thin sheet whose weight can be ignored are used to simulate the environment. And the software based on Windows has been developed in order to handle data during the process. Get force tracking curve and position tracking curve by doing lots of experiments. It proves the possibility of the PHCC- Impedance Control servo system based on force. It can realize the exact force and position tracking in a short time. Experimental results of the system are satisfactory.更多还原