基于阻抗控制的机器人旋拧阀门轴向位置自适应跟踪

doi:10.3901/JME.2019.15.124

机械工程学报 ›› 2019, Vol. 55 ›› Issue (15): 124-134.doi: 10.3901/JME.2019.15.124

基于阻抗控制的机器人旋拧阀门轴向位置自适应跟踪

邢宏军, 丁亮, 高海波, 夏科睿, 刘振, 陶建国, 邓宗全

哈尔滨工业大学机器人技术与系统国家重点试验室哈尔滨 150080

收稿日期:2018-08-28 修回日期:2019-06-07 出版日期:2019-08-05 发布日期:2019-08-05
通讯作者: 丁亮(通信作者),男,1980年出生,博士,教授,博士研究生导师。主要研究方向为特种机器人,星球探测车。E-mail:liangding@hit.edu.cn
作者简介:邢宏军,男,1992年出生,博士研究生。主要研究方向为机器人柔顺控制。E-mail:xinghj@hit.edu.cn;高海波,男,1970年出生,博士,教授,博士研究生导师。主要研究方向为特种机器人,星球探测车。E-mail:gaohaibo@hit.edu.cn
基金资助:
国家重点基础研究发展计划（973计划，2013CB035502）、“111”创新引智计划（B07018）、机械系统与振动国家重点试验室课题（MSV201610）和国家自然基金委创新研究群体项目（51521003）资助项目。

Adaptive Tracking of Axial Position for Valve-turning with a Robot Based on Impedance Control

XING Hongjun, DING Liang, GAO Haibo, XIA Kerui, LIU Zhen, TAO Jianguo, DENG Zongquan

State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080

Received:2018-08-28 Revised:2019-06-07 Online:2019-08-05 Published:2019-08-05

摘要/Abstract

摘要： 针对核电救灾环境机器人作业需求，面向旋拧阀门末端接触力的鲁棒性问题，开展了基于阻抗控制的阀门轴向位置自适应跟踪研究，实现了自适应阻抗控制对阀门轴向位置的有效跟踪。阻抗控制可以较好地实现对接触力/位置动态响应的调节却无法做到精确的位置跟踪，且对末端接触不稳定的鲁棒性较差。为在旋拧阀门中解决该问题，设计了一种鲁棒性更好的新型阻抗模型，并结合自适应控制设计了基于新型阻抗模型的位置跟踪策略，较好地解决了对阀门手轮轴向位置的跟踪。在SolidWorks、ADAMS和Matlab/Simulink联合仿真平台上进行了机器人旋拧阀门仿真，并在搭建的机器人旋拧阀门作业平台进行了试验验证。结果表明，该自适应方法可以精确地实现对阀门手轮轴向位置的跟踪，同时提高了作业系统对末端接触不稳定问题的鲁棒性。

关键词: 联合仿真, 位置跟踪, 旋拧阀门, 自适应控制, 阻抗控制

Abstract: Aim at the working requirement for rescue robots in nuclear disaster, and orient to the robust problem of end contact force in valve-turning, research on adaptive tracking of the axial position of valve handle based on impedance control has been carries out, and effective tracking of the axial handle position utilizing adaptive impedance control has been realized. Impedance control can preferably realize the adjustment of the dynamic response of force/position of the contact ends, but it cannot achieve precise position tracking, and has poor robustness to end contact instability. To solve these problems in valve-turning, a novel impedance model, which has better robustness, has been designed, and combining with adaptive control, a position tracking strategy based on the novel impedance model has been devised, which can solve the tracking of valve handle axial position problem satisfactorily. Robotic valve-turning simulation has been done based on the SolidWorks, ADAMS and Matlab/Simulink joint simulation platform, and physical experiment has also been executed using the established valve-turning platform. The results show that this adaptive method can relatively precisely realize the tracking of valve handle axial position, and at the same time, the robustness of the operating system to end contact instability has been improved.

Key words: adaptive control, impedance control, joint simulation, position tracking, valve-turning

中图分类号:

TP24

邢宏军, 丁亮, 高海波, 夏科睿, 刘振, 陶建国, 邓宗全. 基于阻抗控制的机器人旋拧阀门轴向位置自适应跟踪[J]. 机械工程学报, 2019, 55(15): 124-134.

XING Hongjun, DING Liang, GAO Haibo, XIA Kerui, LIU Zhen, TAO Jianguo, DENG Zongquan. Adaptive Tracking of Axial Position for Valve-turning with a Robot Based on Impedance Control[J]. Journal of Mechanical Engineering, 2019, 55(15): 124-134.

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基于阻抗控制的机器人旋拧阀门轴向位置自适应跟踪

Adaptive Tracking of Axial Position for Valve-turning with a Robot Based on Impedance Control

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