摘要
针对传统旋转阻抗控制模型依赖所选姿态表示的局限,通过应用李代数和运动静力对偶原理构建弹性项元素,提出一种旋转阻抗控制模型的抽象框架.首先,通过黎曼度量得到弹性项位移信息,通过流形间映射雅克比和运动静力对偶原理得到弹性项系数信息,进而得到旋转阻抗在李代数空间上的一致表达.然后,采用轴/角参数化矩阵描述旋转运动,将其代入抽象框架推导,验证了所提框架的正确性与有效性.最后,通过机器人模拟实验,结果表明:机器人在操作空间中能够沿各自的轴展现出所需的动态旋转行为,其准确性和稳定性与选择的参考系无关.
Aiming at the limitation that the traditional rotational impedance control model relied on the selected attitude representation,an abstract framework for the rotational impedance control model was proposed by constructing elastic term elements using Lie algebra and the principle of kinetostatic duality.First,the displacement information of the elastic term was obtained through the Riemann metric,and the coefficient information of the elastic term was derived using the Jacobian of the mapping between manifolds and the principle of kinetostatic duality.Furthermore,a consistent expression of rotational impedance in the Lie algebra space was obtained.Then,the axis/angle parameterization matrix was adopted to describe the rotational motion,which was substituted into the abstract framework for derivation to verify the correctness and effectiveness of the proposed framework.Finally,through robot simulation experiments,results show that the robot can exhibit the required dynamic rotational behavior along respective axes in the operation space,and its accuracy and stability are independent of the selected reference frame.
作者
傅剑
申思远
殷鑫磊
向馗
胡琴
FU Jian;SHEN Siyuan;YIN Xinlei;XIANG Kui;HU Qin(School of Automation,Wuhan University of Technology,Wuhan 430070,China)
出处
《华中科技大学学报(自然科学版)》
北大核心
2025年第11期80-84,共5页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金
国家自然科学基金资助项目(52105528)。
关键词
旋转阻抗
机器人
李代数
运动静力对偶
二阶动态系统
rotational impedance
robots
Lie algebra
kineto-static duality
second-order dynamic system
