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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.
Although the nonlinear model control method can solve the problem of compliant force contact of robots well, it also increases the complexity of high nonlinear dynamic model control of complex robots.In this paper, we propose a hydraulic model based on virtual decomposition control First, the mathematical basis of virtual decomposition control is given.Secondly, the single leg of hydraulic foot robot is connected in series with massless virtual manipulator into a synthetic manipulator, and the synthetic manipulator is decomposed into The subsystem chain composed of connecting rod and joint controlled body analyzes the kinematics, dynamics, control and virtual stability of subsystems and massless virtual manipulators by using the virtual power flow and the virtual stability characteristics of virtual decomposition control. Simultaneously, The dynamic stability of the environment of the synthetic manipulator is analyzed, and then a gain of the system control law is obtained, which can ensure the system stability and achieve the ideal impedance performance.Finally, the system is applied to the hydraulic leg robot leg system for verification, Experimental results show that this method not only can effectively reduce the robot contact force, but also can track the target well Impedance.