一种气动肌肉拮抗驱动机器人关节的类人运动控制方法

doi:10.13973/j.cnki.robot.180714

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龚道雄, 何睿, 于建均, 左国玉. 一种气动肌肉拮抗驱动机器人关节的类人运动控制方法[J]. 机器人, 2019, 41(6): 803-812.DOI: 10.13973/j.cnki.robot.180714. GONG Daoxiong, HE Rui, YU Jianjun, ZUO Guoyu. A Human-like Motion Control Method for Robotic Joint Actuated by Antagonistic Pneumatic Muscles. ROBOT, 2019, 41(6): 803-812. DOI: 10.13973/j.cnki.robot.180714.

摘要为了实现气动人工肌肉拮抗驱动机器人关节系统的类人运动控制，针对该系统严重非线性的特点，本文将其控制问题视为一个非线性最优控制问题，根据人体手臂关节运动的最小加加速度模型设定系统的最优控制性能指标，首先采用扩张状态观测器将机器人关节模型线性化得到积分器串联标准型，然后在线性化模型基础上设计最优控制律，使机器人关节具有与人手臂关节相似的无约束运动轨迹．仿真结果表明，采用本文算法，机器人关节能实现大运动范围（0~120°）的类人运动，关节运动轨迹对负载的改变（1 kg~5 kg）不敏感，并且关节运动具有较好的抗扰动能力．在机器人关节实验平台上通过实物实验验证了算法的有效性，并进一步讨论了控制器参数的设计规则．本文算法需要整定的参数只有2个，适用于气动肌肉拮抗驱动关节的类人运动控制，能够满足协作机器人在本质安全性、运动柔顺性以及类人运动模式等方面的要求．

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	龚道雄
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关键词 ：气动人工肌肉, 拮抗关节, 类人运动控制, 最优控制

Abstract：In order to realize the human-like motion control of the robotic joint system actuated by antagonistic pneumatic artificial muscles (PAMs), it is regarded as a non-linear optimal control problem with consideration of its serious non-linear properties, and the optimal performance indexes are determined according to the minimum jerk model based on the joint motion characteristics of the human arm. Firstly, the robotic joint model is linearized with the extended state observer. Then, an optimal control law is designed on the linearized standard integrator series model to realize the unconstrained human-like trajectory of the robotic joint. The simulation results show that the proposed algorithm can achieve human-like motion with a wide range (0~120°), the joint trajectories are insensitive to load variation (1 kg~5 kg), and it demonstrates good anti-disturbance performance in joint motion. The proposed approach is validated through physical experiments on an experimental platform of the robotic joint, and the design rules of the tuning parameters are discussed. Only two parameters are required to be tuned in the proposed algorithm. It is suitable for human-like motion control of the joints actuated by antagonistic PAMs, and can meet the requirements for the intrinsic safety, the motion compliance and the human-like motion patterns of collaborative robots.

Key words： pneumatic artificial muscle antagonistic joint human-like motion control optimal control

收稿日期: 2018-11-30 录用日期: 2019-03-20

TP242

基金资助:国家自然科学基金（61673003）；北京市自然科学基金（4192010）

通讯作者: 左国玉,zuoguoyu@bjut.edu.cn E-mail: zuoguoyu@bjut.edu.cn

作者简介: 龚道雄(1968-),男,博士,副教授.研究领域:人形机器人,遥操作机器人.
何睿(1993-),男,硕士生.研究领域:仿生机器人,智能控制.
于建均(1965-),女,硕士,副教授.研究领域:机器人仿生自主控制,智能计算与智能优化控制.

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.180714 或 https://robot.sia.cn/CN/Y2019/V41/I6/803

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