【摘要】：人類(lèi)雙臂協(xié)作完成各種復(fù)雜的任務(wù)具有獨(dú)特優(yōu)勢(shì),如在變化的非結(jié)構(gòu)環(huán)境下雙手抓取物體進(jìn)行協(xié)作安裝或打磨：傳統(tǒng)的單臂工業(yè)機(jī)器人在實(shí)際的應(yīng)用中已經(jīng)非常成熟,但無(wú)法完成類(lèi)似的動(dòng)作,模仿人類(lèi)雙臂協(xié)作的生物學(xué)機(jī)理,研發(fā)雙臂協(xié)作機(jī)器人將是下一代機(jī)器人研究的方向和重點(diǎn)。在非結(jié)構(gòu)環(huán)境下研究和解決協(xié)作機(jī)器人的變負(fù)載問(wèn)題是解決雙臂協(xié)作機(jī)器人實(shí)際應(yīng)用的關(guān)鍵,具有重要的理論意義和實(shí)際應(yīng)用價(jià)值。本文結(jié)合江蘇省科技支撐重點(diǎn)項(xiàng)目“多功能冗余自由度雙臂工業(yè)機(jī)器人開(kāi)發(fā)及示范應(yīng)用”(編號(hào)：BE2013003),對(duì)雙臂協(xié)作機(jī)器人進(jìn)行了深入研究,研制出冗余自由度雙臂協(xié)作機(jī)器人系統(tǒng),開(kāi)展了變負(fù)載的雙臂協(xié)作機(jī)器人雙環(huán)自適應(yīng)阻抗控制研究,設(shè)計(jì)了基于模型的非線(xiàn)性控制系統(tǒng),通過(guò)系統(tǒng)仿真與實(shí)驗(yàn),驗(yàn)證了提出的控制策略與算法。主要的研究?jī)?nèi)容和創(chuàng)新點(diǎn)如下：(1)提出了基于外部擾動(dòng)觀測(cè)的變負(fù)載模糊自適應(yīng)滑�？刂扑惴āＴO(shè)計(jì)了基于迭代算法的非線(xiàn)性觀測(cè)器,精確估算變外力負(fù)載產(chǎn)生的擾動(dòng)。引入自適應(yīng)模糊邏輯算法,實(shí)時(shí)更新滑模切換增益,有效地消除滑�？刂浦械亩秳�(dòng)問(wèn)題。根據(jù)李亞普諾夫函數(shù),設(shè)計(jì)滑模控制器控制率,保證了系統(tǒng)的穩(wěn)定性。解決了由于變負(fù)載以及機(jī)器人動(dòng)力學(xué)模型不確定性對(duì)機(jī)器人系統(tǒng)跟蹤精度影響的問(wèn)題。(2)提出了基于系統(tǒng)能耗最小的內(nèi)力動(dòng)態(tài)優(yōu)化分配方法。通過(guò)建立雙臂機(jī)器人抓取物體的運(yùn)動(dòng)學(xué)動(dòng)力學(xué)模型,設(shè)計(jì)了抓取矩陣,分析了運(yùn)動(dòng)約束關(guān)系。采用最小范數(shù)法和零空間解法,將雙臂夾持物體的合力分解為內(nèi)力和外力,以系統(tǒng)的能量消耗最小為優(yōu)化目標(biāo),采用能量代價(jià)函數(shù)對(duì)內(nèi)力進(jìn)行二次優(yōu)化分配。解決了目標(biāo)物體的合力分解到雙臂機(jī)器人操作空間的力映射問(wèn)題,為下章的力控制提供理論模型。(3)提出了雙環(huán)阻抗變剛度力跟蹤控制策略。針對(duì)目標(biāo)物體合力分解為內(nèi)力和外力的方法,分別采用內(nèi)環(huán)阻抗和外環(huán)阻抗的控制策略,外環(huán)阻抗對(duì)理想的外力進(jìn)行跟蹤控制,可實(shí)現(xiàn)物體與環(huán)境良好接觸,穩(wěn)定交互。以手臂的阻抗特性分析,提出了基于PD變剛度調(diào)整阻抗控制策略,提高了系統(tǒng)的魯棒性。為了防止內(nèi)力過(guò)大而損壞物體,設(shè)計(jì)了內(nèi)環(huán)阻抗控制模型,通過(guò)李亞普諾夫函數(shù)證明全局控制系統(tǒng)的穩(wěn)定性。解決了雙臂協(xié)作抓取及物體與環(huán)境交換下力的穩(wěn)定性控制的問(wèn)題。(4)開(kāi)發(fā)雙臂協(xié)作機(jī)器人軟硬件控制系統(tǒng)。針對(duì)雙臂協(xié)作機(jī)器人不同任務(wù)作業(yè)的復(fù)雜控制算法,采用開(kāi)源的Linux+RTAI系統(tǒng),構(gòu)建了視覺(jué)、力覺(jué)、電流檢測(cè)等感知能力系統(tǒng),開(kāi)發(fā)出能快速計(jì)算和數(shù)據(jù)處理能力的總控系統(tǒng)。采用基于總線(xiàn)通訊模式,實(shí)現(xiàn)各關(guān)節(jié)控制節(jié)點(diǎn)與總控系統(tǒng)的信息傳遞速度與準(zhǔn)確性的大幅度提高。(5)搭建了實(shí)驗(yàn)平臺(tái),對(duì)控制算法進(jìn)行了驗(yàn)證。針對(duì)雙臂協(xié)調(diào)變負(fù)載問(wèn)題,開(kāi)展了機(jī)械臂末端變負(fù)載實(shí)驗(yàn)、雙臂機(jī)器人的變外力交互實(shí)驗(yàn)以及基于任務(wù)分解的雙臂機(jī)器人軸孔裝配實(shí)驗(yàn)；通過(guò)兩7-DOF機(jī)械臂仿真平臺(tái)和實(shí)驗(yàn)手段驗(yàn)證了提出的控制算法的有效性。
[Abstract]:Human double-arm cooperation has unique advantages in completing various complex tasks, such as cooperative installation or polishing of objects grasped by both hands in a changing unstructured environment: the traditional single-arm industrial robot has been very mature in practical applications, but it can not complete similar movements, imitate the biological mechanism of human double-arm cooperation, and develop double-arm cooperation. The research of arm cooperative robot will be the direction and focus of the next generation robot. It is the key to solve the variable load problem of the cooperative robot in unstructured environment. It has important theoretical significance and practical application value. The development and demonstration application of dual-arm industrial robot with redundant degree of freedom (No. BE2013003) are introduced. The dual-arm cooperative robot system with redundant degree of freedom is developed. The dual-loop adaptive impedance control of dual-arm cooperative robot with variable load is studied. A model-based nonlinear control system is designed. The main research contents and innovations are as follows: (1) A variable load fuzzy adaptive sliding mode control algorithm based on external disturbance observation is proposed. A nonlinear observer based on iterative algorithm is designed to accurately estimate the disturbance caused by variable external force load. Fuzzy logic algorithm updates the sliding mode switching gain in real time and effectively eliminates the jitter problem in sliding mode control. According to Lyapunov function, the control rate of sliding mode controller is designed to ensure the stability of the system. A dynamic optimal allocation method of internal force based on the minimum energy consumption of the system is proposed.The grabbing matrix is designed by establishing the kinematics dynamic model of the two-arm robot grabbing the object,and the motion constraints are analyzed.The resultant force of the two-arm clamping object is decomposed into internal force and external force by using the minimum norm method and the zero-space method. The problem of force mapping from the resultant force of the target object to the manipulation space of the dual-arm robot is solved, and a theoretical model is provided for the force control of the next chapter. (3) A dual-loop impedance variable stiffness force tracking control strategy is proposed. The method of internal force and external force respectively adopts the control strategy of inner loop impedance and outer loop impedance, and the outer loop impedance can track and control the ideal external force, which can realize good contact and stable interaction between object and environment. The inner loop impedance control model is designed to prove the stability of the global control system by Lyapunov function. The problems of cooperative grasping with two arms and the stability control of force exchange between object and environment are solved. (4) The hardware and software control system of double arm cooperative robot is developed. Complex control algorithm of task task task, using open source Linux+RTAI system, constructs perceptual system of vision, force sense, current detection and so on, develops the master control system which can calculate and process data quickly. Adopts bus communication mode, realizes the speed and accuracy of information transmission between each joint control node and master control system. (5) Set up the experimental platform and verify the control algorithm. Aiming at the problem of the coordinated variable load of the two arms, the experiment of variable load at the end of the manipulator, the experiment of variable external force interaction of the two-arm robot and the experiment of the assembly of the two-arm robot shaft hole based on task decomposition are carried out. The effectiveness of the proposed control algorithm is also discussed.
【學(xué)位授予單位】：中國(guó)科學(xué)技術(shù)大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2016
【分類(lèi)號(hào)】：TP242

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