一个新的双臂自适应合作控制框架,用于承载可变负荷和主动反转
Xin Shu1, Fenglei Ni1, Kang Min1
1State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China.
ISA transactions
|March 28, 2024
概括
本研究介绍了一种双臂自适应合作控制框架 (ACCF),用于管理携带可变载荷和面临干扰的机器人. 通过适应不断变化的条件并抵抗物体掉落或滑动,ACCF确保了稳定的运输.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统 控制系统
- 机械电子学是什么意思 机械电子学
背景情况:
- 执行运输任务的机器人由于可变负载和外部干扰而面临轨迹偏差.
- 不稳定的抓地力或外部力量会导致物体掉落或滑动,导致任务失败.
研究的目的:
- 提出一种新的双臂自适应合作控制框架 (ACCF),用于强大的双臂机器人控制.
- 确保在可变负载下保持轨迹,并积极应对滑动或翻转等干扰.
主要方法:
- 一个双环控制框架:一个内环用于双臂抓的自适应力控制,一个外环用于集中阻抗控制.
- 纳入快速重力估计方案用于轨道偏差补偿.
- 实施积极的反翻转方案,以抵消滑动和翻转.
主要成果:
- 实验评估表明,ACCF能够适应可变负荷.
- 该框架成功地减轻了因干扰引起的轨道偏差.
- ACCF有效地抵抗携带物体的滑动或翻转.
结论:
- 拟议的ACCF为运输任务中的双臂机器人控制提供了强大的和可适应的解决方案.
- 这一框架提高了机器人在不确定的环境条件下工作的可靠性.
- 该研究为未来的实际双臂机器人应用提供了可行的方法.
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