空间大型机械臂末端12维传感器设计及应用

doi:10.13973/j.cnki.robot.2017.0257

摘要
图/表
参考文献
相关文章 (15)

全文: PDF (770 KB) HTML ( ) 输出: BibTeX \| EndNote (RIS)
引用本文:
倪风雷, 邹添, 孙永军, 刘宏, 李奎. 空间大型机械臂末端12维传感器设计及应用[J]. 机器人, 2017, 39(3): 257-264.DOI: 10.13973/j.cnki.robot.2017.0257. NI Fenglei, ZOU Tian, SUN Yongjun, LIU Hong, LI Kui. Design and Application of a 12-DOF Sensor on the End of Large Space Manipulator. ROBOT, 2017, 39(3): 257-264. DOI: 10.13973/j.cnki.robot.2017.0257.

摘要针对空间大型机械臂，设计了12维传感器，在6维力/力矩传感器基础上一体化设计了6维加速度传感器，并集成了基于FPGA（现场可编程门阵列）的高速多通道数据采集系统．采用最小二乘法和静、动态标定方式对力矩和加速度传感器分别进行了标定．设计的传感器具有维间耦合小、集成度高、易于安装、可靠性高等优点．最后，将设计的12维传感器安装在大型机械臂末端，进行了残余振动抑制试验．实验结果表明，利用此12维传感器的加速度信息，可有效地补偿惯性力、抑制机械臂末端的残余振动，设计的传感器合理可行．

	服务

	把本文推荐给朋友
	加入我的书架
	加入引用管理器
	E-mail Alert
	RSS
	作者相关文章
	倪风雷
	邹添
	孙永军
	刘宏
	李奎

关键词 ：空间机械臂, 12维传感器, 标定, 加速度控制

Abstract：For the large-scale space manipulator, a 12-DOF (degree of freedom) sensor is designed, which consists of a 6-dimensional acceleration sensor and a 6-dimensional force/torque sensor. The high-speed multi-channel data acquisition system based on FPGA (field-programmable gate array) is integrated. The least squares method and the static and dynamic calibration method are adopted to calibrate torque and acceleration sensors respectively. The designed sensors have the advantages of small dimension coupling, high integration, easy assembly and high reliability. Finally, the 12-DOF sensor is installed on the end of a large-scale manipulator, and the residual vibration suppression experiment is carried out. The experimental results show that the inertia force is compensated and the residual vibration of the manipulator is restrained effectively according to the acceleration information from the designed 12-DOF sensor. The designed sensor is reasonable and feasible.

Key words： space manipulator 12-DOF sensor calibration acceleration control

收稿日期: 2016-12-12 录用日期: 2017-03-04

:	TP212
	TN247

基金资助:国家973计划（2013CB733103）

通讯作者: 倪风雷,flni@hit.edu.cn E-mail: flni@hit.edu.cn

作者简介: 倪风雷(1975-）,男,博士,副教授.研究领域:空间机器人技术.
邹添(1984-）,男,博士生.研究领域:空间机器人技术.

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2017.0257 或 https://robot.sia.cn/CN/Y2017/V39/I3/257

[1] 王树新，贠今天，石菊荣，等.柔性机械臂建模理论与控制方法研究综述 [J].机器人，2002，24(1)：86-91,96.Wang S X, Yun J T, Shi J R, et al. A roadmap of research on modeling and control strategy for flexible manipulators[J]. Robot, 2002, 24(1): 86-91,96.
[2] 郭闯强，倪风雷，孙敬颋，等.具有力矩传感器的柔性关节的振动抑制 [J].机器人，2011，33(4)：449-454.Guo C Q, Ni F L, Sun J T, et al. Vibration suppression for the flexible joint with torque sensor[J]. Robot, 2011, 33(4): 449-454.
[3] Crane C D, Duffy J, Carnahan T. A kinematic analysis of the space station remote manipulator system (SSRMS)[J]. Journal of Robotic Systems, 1991, 8(5): 637-658.
[4] 邱志成，谢存禧，张洪华，等.压电柔性机械臂的主动振动控制研究 [J].机器人，2004，26(1)：45-48,73.Qiu Z C, Xie C X, Zhang H H, et al. Active vibration control for flexible piezoelectric manipulator[J]. Robot, 2004, 26(1): 45-48,73.
[5] Kapucu S, Baysec S, Alici G. Residual vibration suppression of a flexible joint system using a systematic command shaping technique[J]. Arabian Journal for Science and Engineering, 2006, 31(2B): 139-152.
[6] Ahmad M A, Ismail R M T R, Ramli M S. Optimal control with input shaping for input tracking and vibration suppression of a flexible joint manipulator[J]. European Journal of Scientific Research, 2009, 28(4): 583-599.
[7] Park K J, Park Y S. Fourier-based optimal design of a flexible manipulator path to reduce residual vibration of the endpoint[J]. Robotica, 1993, 11(3): 263-272.
[8] Thummel M, Otter M, Bals J. Vibration control of elastic joint robots by inverse dynamics models[C]//International Symposium on Vibration Control of Nonlinear Mechanisms and Structures. Dordrecht, Netherlands: Springer, 2005: 343-353.
[9] He Y Q, Han J D. Acceleration-feedback-enhanced robust control of an unmanned helicopter[J]. Journal of Guidance, Control, and Dynamics, 2010, 33(4): 1236-1250.
[10] Kröger T, Kubus D, Wahl F M. Force and acceleration sensor fusion for compliant manipulation control in 6 degrees of freedom[J]. Advanced Robotics, 2007, 21(14): 1603-1616.
[11] Garcia J G, Robertsson A, Ortega J G, et al. Force and acceleration sensor fusion for compliant robot motion control[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA: IEEE, 2005: 2709-2714.
[12] Winkler A, Suchy J. Dynamic force/torque measurement using a 12DOF sensor[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, USA: IEEE, 2007: 1870-1875.
[13] Garcia J G, Robertsson A, Ortega J G, et al. Sensor fusion for compliant robot motion control[J]. IEEE Transactions on Robotics, 2008, 24(2): 430-441.
[14] Wu Z C, Meng M, Shen F. Interaction force measurement of robotic manipulator based on 12DOF force sensor[C]//Interna-tional Conference on Information Acquisition. Piscataway,USA: IEEE, 2004: 240-243.
[15] Zou T, Ni F L, Guo C Q, et al. A 6-DOF acceleration sensor with cylindrical configuration[J]. Sensors and Actuators A, 2016, 251: 167-178.
[16] 李成刚，尤晶晶，陈鹏，等.六维加速度传感器标定平台及标定方法，中国：CN102680739A[P].2012-09-19.Li C G, You J J, Chen P, et al. Calibration platform and method for 6D accelerometer, China: CN102680739A[P]. 2012-09-19.