【摘要】：針對(duì)目前雙臂機(jī)器人阻抗控制方法的研究,傳統(tǒng)的主從控制方法不適宜搬運(yùn)柔性物體,通過(guò)分析研究人類雙臂搬運(yùn)物體的動(dòng)作特點(diǎn),建立了一種新的雙臂主從動(dòng)作的阻抗控制方法。通過(guò)引入雙臂間的相對(duì)誤差及由相對(duì)誤差產(chǎn)生的虛擬恢復(fù)力概念,有效地克服傳統(tǒng)主從控制不適宜搬運(yùn)柔性體的缺點(diǎn)。實(shí)現(xiàn)了冗余雙臂機(jī)器人協(xié)調(diào)搬運(yùn)作業(yè)要求,提高了雙臂機(jī)器人的工作能力,保證了雙臂機(jī)器人在協(xié)調(diào)搬運(yùn)作業(yè)過(guò)程中各臂運(yùn)動(dòng)的平穩(wěn)性,最后通過(guò)雙臂協(xié)調(diào)搬運(yùn)仿真,驗(yàn)證了該方法的可行性。
[Abstract]:The traditional master-slave control method is not suitable for carrying flexible objects in view of the current research on impedance control method of dual-arm robot. A new impedance control method for the master-slave operation of both arms is proposed. By introducing the relative error between the two arms and the concept of virtual restoring force generated by the relative error, the shortcoming of traditional master-slave control is effectively overcome that the traditional master-slave control is not suitable for carrying the flexible body. The redundant dual-arm robot can coordinate the handling operation, improve the working ability of the dual-arm robot, and ensure the smooth movement of each arm during the coordination of the two-arm robot. Finally, the simulation of the two-arm coordinated handling is carried out through the two-arm coordinated moving simulation. The feasibility of the method is verified.
【作者單位】： 河北工業(yè)大學(xué)機(jī)械工程學(xué)院;
【分類號(hào)】：TP242

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