空间多臂机器人抓取过程优化控制策略
首发时间:2021-03-30
摘要:针对空间多臂机器人抓取任务中各臂力无法有效分配,同时机器人末端因为扰动或控制误差等而发生滑动导致抓取失效等问题,根据建立的多臂机器人抓取模型,在摩擦锥约束条件的基础上增加了抓取安全系数,设计了多臂机器人抓取力分配策略。对于抓取接触过程中导致的振荡问题,设计了引入速度及加速度反馈柔顺控制策略,通过调节速度及加速度反馈系数降低了系统振动频率和幅值;对于因为振动过大导致的末端脱离物体表面,设计了控制切换策略,保证了在脱离后机器人能时返回表面,有效抑制了振动。最后通过仿真验证了所设计的控制策略将振动幅值减少了44%,达到稳定期望力时间加快了94.3%,证明了理论的有效性。
关键词: 空间多臂机器人 安全系数 力分配 柔顺控制 振动?????
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Optimal Control Strategy for Grasping Process of Space Multi-arm Robot
Abstract:Aiming at the problem that the arm forces cannot be effectively distributed in the grasping task of the space dobby robot, and the robot end slips due to disturbance or control errors, resulting in grasping failure, etc., according to the established dobby robot grasping model, the friction cone constraint conditions Based on the increase of the grasping safety factor, the multi-arm robot grasping force distribution strategy is designed. For the vibration problem caused by the grasping contact process, a speed and acceleration feedback compliant control strategy was designed to reduce the system vibration frequency and amplitude by adjusting the speed and acceleration feedback coefficient; for the end detached from the surface of the object due to excessive vibration, A control switching strategy is designed to ensure that the robot can return to the surface when it leaves, effectively suppressing vibration. Finally, it is verified by simulation that the designed control strategy reduces the vibration amplitude by 44%, and the time to reach a stable desired force is accelerated by 94.3%, which proves the validity of the theory.
Keywords: space dobby robot safety factor force distribution compliant control vibration
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