基于加速度反馈的柔性关节机械臂接触力控制

针对柔性关节机械臂从自由空间运动控制过渡到约束空间力控制的过程中,存在冲击、震荡甚至不稳定等问题,利用加速度传感器反馈控制,为柔性关节机械臂的接触力控制在较宽的带宽内提供阻尼,克服了利用单纯速度反馈控制带宽窄的局限。对柔性关节机械臂的接触力控制进行建模和基于加速度反馈的控制策略分析,并在柔性关节机械臂上进行了接触力控制的试验研究。结果表明,这种方法有效。

There exists the problems of impact, vibration and even instability when flexible joint manipulator transition from free space movement to constraint space contact force control. Acceleration sensor - based feedback control is used to enhance the active damping in higher bandwidth for the contact force control of the flexible joint manipulator, and the narrow bandwidth limitation of only using velocity feedback control is overcome. The contact force control of the flexible joint manipulator system is modeled, and acceleration based control strategy is analyzed. The experiment of contact force control for flexible joint manipulator is carried out. The results prove the effectiveness of the presented method.

国家自然科学基金资助项目（60034010）