多自由度机器人机械手腕关节柔顺控制方法研究

针对传统机械手腕关节控制方法稳定性低和灵活性差的弊端,提出一种新的多自由度机器人机械手腕关节柔顺控制方法。介绍了多自由度机器人关节系统,按动力学系统组建机械手腕关节的动力学模型,采用拉格朗日方法获取动力学方程。介绍了PD手腕关节位置控制方法,在此基础上通过改进纯积分力控制方法实现多自由度机器人机械手腕关节柔顺控制。分析了机械手腕关节混合位置/力矩控制过程,通过差动机构控制两个驱动器,使其完成机械手腕关节外展/内收和伸展/翘曲两个自由度,提高机械手腕控制灵活性。实验结果表明,所提方法控制精度和稳定性高,能够保证机械手腕关节的灵活性。

Research on compliance control method of robot wrist joint in multi degree of freedom robot

Aiming at the disadvantage of low stability and poor flexibility of the traditional mechanical wrist joint control method, a new multi DOF robot wrist joint compliant control method is proposed. A multi DOF robot joint system is introduced. The dynamic model of the mechanical wrist joint is built according to the dynamic system. The dynamic equation is obtained by Lagrange method. This paper introduces the PD wrist joint position control method, and on this basis, by improving the method of pure product component control, the robot wrist joint compliant control of multi degree of freedom robot is realized. The analysis of the hybrid position / mechanical wrist joint torque control process, control the two drive through differential mechanism to complete mechanical wrist abduction / adduction and extension / warping two degrees of freedom, improve the mechanical wrist flexibility control. The experimental results show that the proposed method has high control accuracy and stability, and can guarantee the flexibility of mechanical wrist joint.