摘要
针对连续型机器人人机交互控制需求,提出一种位姿分离的主从控制策略,通过主手位置增量和姿态变换矩阵来控制连续型机器人的位置和姿态,进而提高主从手间运动跟踪的实时性。首先,设计了一个由3个弯曲关节串联组成绳索驱动的连续型机器人,采用分段恒曲率方法建立运动学模型,并进行仿真。然后,提出位姿分离的增量式主从控制策略。最后,搭建实验样机系统平台,完成机器人弯曲旋转、主从控制试验。实验结果表明:该机器人具有良好的稳定性,能够在三维空间内灵活运动,且主从控制跟踪精度平均为8.52 mm,能够有效跟随主手的运动轨迹。
Aiming at the human-machine interaction control requirements of continuum robots,a position and pose separation master-slave control strategy is proposed.This strategy controls the position and pose of the continuum robot through the master hand position increment and pose transformation matrix,thereby improving the real-time performance of motion tracking between the master and slave hands.Firstly,a cable-driven continuum robot composed of three bending joints in serially connected is designed.A kinematic model is established using the segmented constant curvature method and simulated.Subsequently,an incremental master-slave control strategy based on position and pose separation is proposed.Finally,an experimental prototype system platform is built to complete robot bending and rotation tests,as well as master-slave control experiments.Experimental results demonstrate that the robot has good stability and can move flexibly in three-dimensional space.The average tracking precision of the master-slave control is 8.52 mm,and the robot can effectively follow the motion trajectory of the master hand.
作者
邹学坤
沙连森
肖志毅
黄锟
李永斌
刘斌
ZOU Xuekun;SHA Liansen;XIAO Zhiyi;HUANG Kun;LI Yongbin;LIU Bin(College of Mechanical and Electrical Engineering,Hohai University,Changzhou 213022,China;Suzhou Institute of Biomedical Engineering and Technology,Chinese Academy of Sciences,Suzhou 215163,China)
出处
《传感器与微系统》
北大核心
2026年第4期34-39,共6页
Transducer and Microsystem Technologies
基金
国家重点研发计划项目(2020YFC2007402,2020YFC2007404,2020YFC2007401,2020YFC2007400,2020YFC2007403,2020YFC2007405,2022YFC2405603,2022YFC2405604)
江苏省科技计划项目(BE2021053,BE2022117,BE2022153)。
关键词
连续型机器人
分段恒曲率
绳驱动
主从控制
continuum robot
segmented constant curvature
cable-driven
master-slave control
