摘要
采摘机器人抓取空间轨迹复杂,导致了抓取力柔顺控制及轨迹规划具有很大的非线性特征。针对这一问题,提出了一种基于广义策略迭代(GPI)算法力矩反馈下的采摘机器人抓取力柔顺控制方法。首先,考虑了采摘机器人动力学模型的动态补偿惯性力、重力、抓取力的联合作用,建立了机器人力学模型;其次,采用反馈控制器、内环力控制器联合控制方法设计了力矩反馈算法,采用GPI算法对机器人柔性力矩反馈控制过程进行了寻优计算;然后,采用逆运动学解析和运动任务规划的方法,建立了力矩反馈下抓取力柔顺控制规划补偿算法,采用模型前馈补偿提高了力矩柔性控制能力;最后,搭建了实验平台,对力矩反馈及轨迹跟踪性能进行了测试,并对实验结果进行了分析。研究结果表明:相比于其他方法,GPI力矩反馈方法在3个支链上的力矩误差平均减小了9.51%、6.82%和4.46%,在采摘自由空间运动位置的跟踪精度分别提升了24.12%和42.86%,提高了机器人抓取力的柔顺控制和轨迹跟踪精度。
The complex grasping space trajectory of the picking robot leads to significant non-linear characteristics in the compliant control of the grasping force and trajectory planning.To address this issue,a compliant control method for the grasping force of the picking robot under the torque feedback of the generalized policy iteration(GPI)algorithm was proposed.Firstly,considering the combined effects of the dynamic compensation inertial force,gravity,and grasping force of the picking robot s dynamic model,a robot mechanical model was established.Secondly,a combined control method of a feedback controller and an inner-loop force controller were adopted to design the torque feedback algorithm,and the GPI algorithm was used to achieve the optimization calculation in the process of the robot s flexible torque feedback control.Then,the method of inverse kinematics analysis and motion task planning was used to establish a compliant control planning compensation algorithm for the grasping force under torque feedback,and the torque flexible control ability was improved through model feed-forward compensation.Finally,an experimental platform was built to test the torque feedback and trajectory tracking performance,and the effectiveness of the experimental results was analyzed.The research results show that,compared with other methods,the torque errors of this method on the three branches are respectively reduced by an average of 9.51%,6.82%,and 4.46%.The motion position tracking accuracy in the picking free space is improved by respectively 24.12%and 42.86%,it improves the compliant control of the robot s grasping force and the trajectory tracking accuracy.
作者
姚江云
王宽田
覃溪
梁世华
YAO Jiangyun;WANG Kuantian;QIN Xi;LIANG Shihua(College of Information Science and Engineering,Liuzhou Institute of Technology,Liuzhou 545616,China;Ocean Engineering College,Guilin University of Electronic Technology,Beihai 536000,China;School of Computer Science and Engineering,Guilin University of Technology,Guilin 541004,China)
出处
《机电工程》
北大核心
2025年第7期1301-1308,共8页
Journal of Mechanical & Electrical Engineering
基金
国家自然科学基金资助项目(41562018)
广西科技基地和人才专项(2020AC19115)
广西高校中青年教师科研基础能力提升项目(2020KY60012)。
关键词
机械臂
广义策略迭代
力矩反馈控制模型
抓取力
柔顺控制补偿算法
mechanical arm
generalized policy iteration(GPI)
torque feedback control model
grasping force
compliance control compensation algorithm
