基于虚拟分解控制的液压足式机器人单腿稳定阻抗控制

doi:10.13973/j.cnki.robot.2017.0704

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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. ROBOT, 2017, 39(5): 704-714. DOI: 10.13973/j.cnki.robot.2017.0704.

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．

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	陈光荣
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关键词 ：足式机器人, 阻抗控制, 虚拟分解控制, 虚拟功率流, 稳定性分析

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.

Key words： legged robot impedance control virtual decomposition control (VDC) virtual power flow stability analysis

收稿日期: 2017-03-27 录用日期: 2017-06-13

TP242

基金资助:国家自然科学基金（51675041）

通讯作者: 陈光荣,cgr2012@foxmail.com E-mail: cgr2012@foxmail.com

作者简介: 陈光荣(1989-),博士生.研究领域:伺服系统和机器人控制.
王军政(1964-),男,博士,教授.研究领域:运动驱动与伺服控制,控制系统静动态性能仿真与试验,运动目标检测与跟踪,机器人控制.
赵江波(1978-),男,博士,副研究员.研究领域:运动驱动与控制,电液伺服系统节能控制.

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https://robot.sia.cn/CN/10.13973/j.cnki.robot.2017.0704 或 https://robot.sia.cn/CN/Y2017/V39/I5/704

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