【摘要】：基于單端口網(wǎng)絡(luò)的無(wú)源性理論,建立機(jī)器人吸附足與葉片壁面的端口網(wǎng)絡(luò)系統(tǒng),給出觸力柔順控制所需的無(wú)源性條件;設(shè)計(jì)無(wú)源觀測(cè)器能量觀測(cè)算法,無(wú)源控制器根據(jù)系統(tǒng)能量變化預(yù)測(cè)值和觸力反饋值,修正吸附足位置。在Matlab/Simulink中的Sim Mechanics搭建的三自由度爬壁機(jī)器人仿真測(cè)試平臺(tái)和實(shí)物樣機(jī)測(cè)試平臺(tái)上開展無(wú)源性控制實(shí)驗(yàn)。仿真和樣機(jī)實(shí)驗(yàn)結(jié)果一致表明,所設(shè)計(jì)的算法可將觸力控制在穩(wěn)定吸附閾值和沖擊閾值內(nèi),實(shí)現(xiàn)足壁觸力的無(wú)源柔順。
[Abstract]:Based on the passive theory of single-port network, the port network system of robot adsorbing foot and blade wall is established, and the passive condition for the control of touch force compliance is given. The passive observer energy observation algorithm is designed. The passive controller modifies the position of the adsorption foot according to the predicted energy change and the contact feedback value of the system. The passive control experiment is carried out on the simulation test platform of three-degree-of-freedom wall-climbing robot and the test platform of physical prototype built by Sim Mechanics in Matlab/Simulink. The results of simulation and prototype experiments show that the proposed algorithm can control the contact force within the stable adsorption threshold and impact threshold to achieve passive compliance of foot contact force.
【作者單位】： 中國(guó)計(jì)量大學(xué)機(jī)電工程學(xué)院;浙江省在線檢測(cè)裝備校準(zhǔn)技術(shù)研究重點(diǎn)實(shí)驗(yàn)室;
【基金】：浙江省自然科學(xué)基金(LQ13E050004;LY14F030021) 國(guó)家高技術(shù)研究發(fā)展(863)計(jì)劃(2015AA042302)
【分類號(hào)】：TM315;TP242

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