基于人机交互的重载机械臂控制方法

doi:10.13973/j.cnki.robot.180138

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李连鹏, 解仑, 刘振宗, 郝兵, 刘大华, 胡同海. 基于人机交互的重载机械臂控制方法[J]. 机器人, 2018, 40(4): 525-533.DOI: 10.13973/j.cnki.robot.180138. LI Lianpeng, XIE Lun, LIU Zhenzong, HAO Bing, LIU Dahua, HU Tonghai. A Control Method for Heavy Load Manipulator Based on Man-Machine Interaction. ROBOT, 2018, 40(4): 525-533. DOI: 10.13973/j.cnki.robot.180138.

摘要针对目前重载机械臂控制系统存在的人机交互性不足问题及重载带来的刚柔耦合问题，设计了一种基于动力学模型的人机交互闭环力!/!位控制算法，并依据该算法设计了7自由度重载机械臂控制系统.首先分析了国内外重载机械臂的工作特点和存在的问题，提出基于力!/!视觉反馈的人机交互方式来增强系统的人机交互性；然后为抑制刚柔耦合带来的控制问题，建立了重载机械臂刚柔耦合动力学模型，提出基于人机交互的重载机械臂力!/!位闭环控制算法.最后搭建重载机械臂控制系统，搭建的控制系统包括人机交互子系统、环境感知子系统、驱动子系统、信息处理子系统及通信子系统.在此基础上，进行重载机械臂控制系统作业试验.试验结果表明，该控制系统能够完成人机交互作业功能，相对于传统重载机械臂作业手段，有效提高了作业效率70%，保障了作业人员安全，验证了所提出控制系统的人机友好性、可行性和实用性.

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	李连鹏
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	胡同海

关键词 ：重载机械臂, 人机交互, 力/视觉反馈, 动力学模型, 力/位闭环控制

Abstract：For the lack of man-machine interaction and rigid-flexible coupling caused by heavy load in the current heavy load manipulator control system, a force/position closed-loop control algorithm for man-machine interaction based on dynamic model is proposed, and a control system of 7 DOF (degree of freedom) heavy load manipulator is designed according to the algorithm. Firstly, the working characteristics and problems of the existing heavy load manipulators at home and abroad are analyzed. And a man-machine interaction mode based on force/visual feedback is proposed to enhance the interaction performance of the system. In order to restrain the control problem caused by rigid-flexible coupling, a rigid-flexible coupling dynamic model of the heavy load manipulator is established, and a force/position closed-loop control algorithm for heavy load manipulator based on man-machine interaction is proposed. Finally, a control system of heavy load manipulator is set up, which consists of man-machine interaction subsystem, environment perception subsystem, driving subsystem, information processing subsystem and communication subsystem. On this basis, the operation test of the heavy load manipulator control system is carried out. The test results show that the control system can complete the function of man-machine interaction. Compared with the traditional working method of heavy load manipulator, the proposed system can effectively improve working efficiency by 70%, and ensure the safety of operating personnel. It is proved that the proposed control system is user-friendly, feasible and practical.

Key words： heavy load manipulator man-machine interaction force/visual feedback dynamic model force/position closed-loop control

收稿日期: 2018-02-12 录用日期: 2018-05-02

TP241.2

基金资助:国家重点研发计划（2017YFB1302104）；国家自然科学基金（61672093，61432004）

通讯作者: 解仑,xielun@ustb.edu.cn E-mail: xielun@ustb.edu.cn

作者简介: 李连鹏(1991-),男,博士生.研究领域:人机交互与机器人技术,信息物理系统安全.
解仑(1968-),男,博士,教授,博士生导师.研究领域:基于嵌入式系统的智能机器人研制,人工智能及其应用,大功率交流电气传动控制技术.
刘振宗(1993-),男,硕士生.研究领域:智能机器人人机交互技术.

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.180138 或 https://robot.sia.cn/CN/Y2018/V40/I4/525

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