柔索牵引式力觉交互机器人控制策略

doi:10.13973/j.cnki.robot.180090

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宋达, 张立勋, 王炳军, 高源, 薛峰, 李来禄. 柔索牵引式力觉交互机器人控制策略[J]. 机器人, 2018, 40(4): 440-447.DOI: 10.13973/j.cnki.robot.180090. SONG Da, ZHANG Lixun, WANG Bingjun, GAO Yuan, XUE Feng, LI Lailu. The Control Strategy of Flexible Cable Driven Force Interactive Robot. ROBOT, 2018, 40(4): 440-447. DOI: 10.13973/j.cnki.robot.180090.

摘要为了让航天员在没有太空真实环境的地面上模拟太空环境进行虚拟作业训练，设计了一种与虚拟现实（VR）技术相结合的柔索牵引式力觉交互机器人．首先，根据微重力环境中物体的运动特性设计机器人的构型，建立移动平台、驱动单元、人推物体运动过程的动力学模型并进行运动学分析．然后，针对系统冗余驱动及力控制任务，提出一种复合控制策略，即以柔索长度变化为速度控制内环，力的外环控制为力／速混合控制．最后，分别进行单柔索加载和人机系统力觉交互仿真分析，分析结果表明该控制策略可以使柔索驱动单元降低10%的恒力跟随误差并能稳定地跟随余弦力的变化，验证了该控制策略对多余力抑制的有效性．

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关键词 ：虚拟作业, 力觉临场感, 力/速混合控制, 力觉交互

Abstract：In order to allow astronauts to perform the virtual operation training by simulating space environment on the ground instead of in real space environment, a flexible cable driven force interactive robot combined with virtual reality (VR) technology is designed. Firstly, the configuration of the robot is designed according to the motion characteristics of the object in microgravity environment. The dynamic model of mobile platform, driving unit and human pushing process is established and the kinematics analysis is carried out. Then, a compound control strategy is proposed for the redundant drive and force control task of the system. That is, the length change of the flexible cable is the inner loop of the velocity control, and the outer loop control of force is the hybrid force/velocity control. Finally, the single flexible cable loading and man-machine system force interactive simulation analysis are carried out, respectively. The analysis results show that the constant force following error of the flexible cable driving unit can be reduced by 10% with the proposed control strategy, and the change of cosine force can be followed steadily, which verify its effectiveness for suppressing surplus force.

Key words： virtual operation force telepresence hybrid force/velocity control force interactive

收稿日期: 2018-01-30 录用日期: 2018-04-08

TP242

基金资助:国家自然科学基金（61175128，61773007）；国家重点研发计划（2016YFC0802600）

通讯作者: 张立勋,zhanglixun@hrbeu.edu.cn E-mail: zhanglixun@hrbeu.edu.cn

作者简介: 宋达(1989-),男,博士生.研究领域:并联机器人,机电一体化技术.
张立勋(1962-),男,博士,教授.研究领域:特种机器人,并联机器人,机电一体化技术.
王炳军(1967-),男,高工.研究领域:机电一体化技术.

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https://robot.sia.cn/CN/10.13973/j.cnki.robot.180090 或 https://robot.sia.cn/CN/Y2018/V40/I4/440

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