摘要
协作型机械臂的应用在服务和工业领域占比逐年增加,从人机安全的角度考虑,一种快速准确的外部力矩估计方法成了碰撞检测和碰撞识别的重要前提.而实际机械臂部署与使用过程中,动力学模型参数与理论值存在偏差,致使普通外部力矩估计方法的估计值和实际值存在不可忽视的偏差.针对模型不匹配的实际问题,提出一种对模型精确度要求低、噪声假设依赖性小、鲁棒性较高的滑模动量观测器.通过比较各类观测器的优缺点,利用二次项系数满足快速响应和平滑滤波的特性,提出二次项滑模动量观测器,从而实现动力学和噪声模型存在误差时的碰撞检测响应和外部力矩估计.通过设计仿真实验与实物验证了该滑膜动量观测器的有效性和可行性.
The application of collaborative robotic arms is steadily increasing across both service and industrial domains.From the perspective of human-robot safety,rapid and accurate estimation of external torques has become a critical prerequisite for effective collision detection and recognition.However,in real-world deployment and operation,deviations between actual and nominal parameters of the robotic arm’s dynamic model lead to significant discrepancies between conventional external torque estimations and the actual values.To address this issue of model-plant mismatch,a sliding mode momentum observer that exhibits high robustness,reduced dependence on noise distribution assumptions,and low sensitivity to model accuracy was proposed.By systematically comparing the advantages and limitations of existing observers,a quadratic sliding-mode momentum observer is proposed,leveraging the quadratic term to balance rapid responsiveness with smooth filtering.This approach enables reliable collision detection and external torque estimation even in the presence of modeling inaccuracies in system dynamics and noise characteristics.The effectiveness and feasibility of the proposed observer are validated through both simulation studies and physical robotic experiments.
作者
严程
白雪杨
吕明
张捷
乔志辉
YAN Cheng;BAI Xueyang;LÜMing;ZHANG Jie;QIAO Zhihui(School of Automation,Nanjing University of Science and Technology,Nanjing,Jiangsu 210094,China;The 28th Research Institute of China Electronics Technology Group Corporation,Nanjing,Jiangsu 210007,China)
出处
《北京理工大学学报》
北大核心
2025年第12期1287-1295,共9页
Transactions of Beijing Institute of Technology
基金
江苏省前沿引领技术基础研究重大项目(BK20232028)。
关键词
机械臂
碰撞检测
交互力估计
robotic arm
collision detection
interactive force estimation
