【摘要】：人類雙臂協(xié)作完成各種復(fù)雜的任務(wù)具有獨特優(yōu)勢,如在變化的非結(jié)構(gòu)環(huán)境下雙手抓取物體進行協(xié)作安裝或打磨：傳統(tǒng)的單臂工業(yè)機器人在實際的應(yīng)用中已經(jīng)非常成熟,但無法完成類似的動作,模仿人類雙臂協(xié)作的生物學(xué)機理,研發(fā)雙臂協(xié)作機器人將是下一代機器人研究的方向和重點。在非結(jié)構(gòu)環(huán)境下研究和解決協(xié)作機器人的變負(fù)載問題是解決雙臂協(xié)作機器人實際應(yīng)用的關(guān)鍵,具有重要的理論意義和實際應(yīng)用價值。本文結(jié)合江蘇省科技支撐重點項目“多功能冗余自由度雙臂工業(yè)機器人開發(fā)及示范應(yīng)用”(編號：BE2013003),對雙臂協(xié)作機器人進行了深入研究,研制出冗余自由度雙臂協(xié)作機器人系統(tǒng),開展了變負(fù)載的雙臂協(xié)作機器人雙環(huán)自適應(yīng)阻抗控制研究,設(shè)計了基于模型的非線性控制系統(tǒng),通過系統(tǒng)仿真與實驗,驗證了提出的控制策略與算法。主要的研究內(nèi)容和創(chuàng)新點如下：(1)提出了基于外部擾動觀測的變負(fù)載模糊自適應(yīng)滑�？刂扑惴āＴO(shè)計了基于迭代算法的非線性觀測器,精確估算變外力負(fù)載產(chǎn)生的擾動。引入自適應(yīng)模糊邏輯算法,實時更新滑模切換增益,有效地消除滑模控制中的抖動問題。根據(jù)李亞普諾夫函數(shù),設(shè)計滑模控制器控制率,保證了系統(tǒng)的穩(wěn)定性。解決了由于變負(fù)載以及機器人動力學(xué)模型不確定性對機器人系統(tǒng)跟蹤精度影響的問題。(2)提出了基于系統(tǒng)能耗最小的內(nèi)力動態(tài)優(yōu)化分配方法。通過建立雙臂機器人抓取物體的運動學(xué)動力學(xué)模型,設(shè)計了抓取矩陣,分析了運動約束關(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),采用能量代價函數(shù)對內(nèi)力進行二次優(yōu)化分配。解決了目標(biāo)物體的合力分解到雙臂機器人操作空間的力映射問題,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)阻抗對理想的外力進行跟蹤控制,可實現(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)力過大而損壞物體,設(shè)計了內(nèi)環(huán)阻抗控制模型,通過李亞普諾夫函數(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)定性控制的問題。(4)開發(fā)雙臂協(xié)作機器人軟硬件控制系統(tǒng)。針對雙臂協(xié)作機器人不同任務(wù)作業(yè)的復(fù)雜控制算法,采用開源的Linux+RTAI系統(tǒng),構(gòu)建了視覺、力覺、電流檢測等感知能力系統(tǒng),開發(fā)出能快速計算和數(shù)據(jù)處理能力的總控系統(tǒng)。采用基于總線通訊模式,實現(xiàn)各關(guān)節(jié)控制節(jié)點與總控系統(tǒng)的信息傳遞速度與準(zhǔn)確性的大幅度提高。(5)搭建了實驗平臺,對控制算法進行了驗證。針對雙臂協(xié)調(diào)變負(fù)載問題,開展了機械臂末端變負(fù)載實驗、雙臂機器人的變外力交互實驗以及基于任務(wù)分解的雙臂機器人軸孔裝配實驗；通過兩7-DOF機械臂仿真平臺和實驗手段驗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】：中國科學(xué)技術(shù)大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2016
【分類號】：TP242

【參考文獻(xiàn)】

相關(guān)期刊論文 前7條

1 申浩宇;吳洪濤;陳柏;嚴(yán)鋮;蔣延杰;;冗余度雙臂機器人協(xié)調(diào)避障算法[J];農(nóng)業(yè)機械學(xué)報;2015年09期

2 計時鳴;黃希歡;;工業(yè)機器人技術(shù)的發(fā)展與應(yīng)用綜述[J];機電工程;2015年01期

3 甘亞輝;戴先中;;多機械臂協(xié)調(diào)控制研究綜述[J];控制與決策;2013年03期

4 李文鋒;張帆;閆新慶;楊小鑄;杜娟;韓銳;;移動機器人控制系統(tǒng)結(jié)構(gòu)的研究與進展[J];中國機械工程;2008年01期

5 李香軍;余星火;王常虹;溫奇詠;馬闖;;機械臂系統(tǒng)的一種自適應(yīng)滑模控制方法[J];系統(tǒng)仿真學(xué)報;2006年10期

6 王從慶;石宗坤;;自由浮動空間雙臂機器人抓持內(nèi)力的優(yōu)化控制[J];宇航學(xué)報;2006年01期

7 許宏偉，馬興瑞，，黃文虎，邵成勛，鄒振祝;雙臂協(xié)調(diào)約束系統(tǒng)動力學(xué)問題探討[J];振動工程學(xué)報;1994年01期

相關(guān)博士學(xué)位論文 前3條

1 王美玲;面向救援任務(wù)的雙臂機器人協(xié)作運動規(guī)劃與控制方法研究[D];中國科學(xué)技術(shù)大學(xué);2015年

2 周揚;雙臂機器人的控制系統(tǒng)建立及阻抗控制研究[D];哈爾濱工業(yè)大學(xué);2014年

3 歐陽帆;雙機器人協(xié)調(diào)運動方法的研究[D];華南理工大學(xué);2013年

相關(guān)碩士學(xué)位論文 前1條

1 張慶豐;基于滑模變結(jié)構(gòu)的機器人關(guān)節(jié)控制系統(tǒng)研究[D];浙江工業(yè)大學(xué);2010年

本文編號：2206445