陈光荣, 王军政, 赵江波, 马立玲, 沈伟. 基于虚拟分解控制的液压足式机器人单腿稳定阻抗控制[J]. 机器人, 2017, 39(5): 704-714. DOI: 10.13973/j.cnki.robot.2017.0704
引用本文: 陈光荣, 王军政, 赵江波, 马立玲, 沈伟. 基于虚拟分解控制的液压足式机器人单腿稳定阻抗控制[J]. 机器人, 2017, 39(5): 704-714. DOI: 10.13973/j.cnki.robot.2017.0704
CHEN Guangrong, WANG Junzheng, ZHAO Jiangbo, MA Liling, SHEN Wei. Stable Impedance Control of a Single Leg of Hydraulic Legged Robot Based on Virtual Decomposition Control[J]. ROBOT, 2017, 39(5): 704-714. DOI: 10.13973/j.cnki.robot.2017.0704
Citation: CHEN Guangrong, WANG Junzheng, ZHAO Jiangbo, MA Liling, SHEN Wei. Stable Impedance Control of a Single Leg of Hydraulic Legged Robot Based on Virtual Decomposition Control[J]. ROBOT, 2017, 39(5): 704-714. DOI: 10.13973/j.cnki.robot.2017.0704

基于虚拟分解控制的液压足式机器人单腿稳定阻抗控制

Stable Impedance Control of a Single Leg of Hydraulic Legged Robot Based on Virtual Decomposition Control

  • 摘要: 虽然非线性模型控制法可以很好地解决机器人柔顺性力接触问题,但也增加了复杂机器人高非线性动态建模控制的复杂度.对此,本文提出了一种基于虚拟分解控制的液压足式机器人单腿稳定阻抗控制.首先,给出了虚拟分解控制的数学基础.然后,将液压足式机器人单腿与无质量虚拟机械手串联成一个合成机械手,利用虚拟分解控制方法将合成机械手分解成由连杆和关节被控体组成的子系统链,运用虚拟分解控制的虚拟功率流和虚拟稳定性特性分析各子系统和无质量虚拟机械手的运动学、动力学、控制及虚拟稳定性,同时分析合成机械手的环境交互动态稳定性,接着给出一种既能保证系统稳定性又能实现理想阻抗性能的系统控制律增益.最后,将其运用到液压足式机器人单腿系统中进行验证,实验结果证明该方法不仅可以有效地减小机器人接触力,还能很好地跟踪目标阻抗.

     

    Abstract: Even though the nonlinear model-based control method can solve the problem of compliant contact force for robot, it increases the complexity of highly nonlinear dynamics model-based control of the complex robot. As thus, a stable impedance control method based on virtual decomposition control (VDC) is proposed for a single leg of hydraulic legged robot. Firstly, the mathematical preliminaries of VDC is given out. Then, the single leg of hydraulic legged robot is linked with a massless virtual manipulator to be a combined manipulator. The combined manipulator is decomposed into the subsystems consisting of links and joint objects using the VDC approach. The virtual power flow and virtual stability features of VDC are utilized to analyze the kinematics, dynamics, control and virtual stability of the subsystems and the massless virtual manipulator. Meanwhile, the dynamics stability of the combined manipulator in the environment interaction is analyzed. Besides, the system control gain which can guarantee the system stability and ideal impedance performance is given out. Finally, the experimental results on a single leg system of hydraulic legged robot show that the proposed control method can not only reduce the robot contact force but also track the target impedance.

     

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