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气动人工肌肉拮抗关节的力与刚度独立控制
Alternative TitleIndependent Force and Stiffness Control for Antagonistic Joint Driven by Pneumatic Artificial Muscles
张道辉1,2; 赵新刚1; 韩建达3; 马红阳4; 张弼1
Department机器人学研究室
Source Publication机器人
ISSN1002-0446
2018
Volume40Issue:5Pages:587-596
Indexed ByEI ; CSCD
EI Accession number20185206314347
CSCD IDCSCD:6435725
Contribution Rank1
Funding Organization国家863计划(2015AA042302) ; 国家自然科学基金(61573340,61773369)
Keyword气动人工肌肉 拮抗关节 刚度控制 滑模控制
Abstract

针对柔性仿生关节难以实现力与刚度独立控制的问题,建立了一种新的气动人工肌肉等效弹簧模型及关节力和刚度模型,设计了一种双输入双输出滑模控制器,来实现对气动人工肌肉拮抗关节力与刚度的独立控制.最后,搭建了气动人工肌肉驱动的拮抗关节实验平台,在关节位置固定和开放两种状况下进行了实验研究,验证所提方法的有效性;在不同负载情况下进行了对比实验,验证所提方法的通用性.所提出的建模和控制方法综合考虑了仿生关节位置、力和刚度相对独立控制,在机器人与人或环境互相作用的场合有很好的应用前景.

Other Abstract

In view of the problem that it is hard to achieve independent force and stiffness control for flexible bionic joints, a new equivalent spring model of pneumatic artificial muscle and a joint force and stiffness model are built, and a two-input two-output sliding model controller is constructed to achieve independent force and stiffness control for antagonistic joint driven by pneumatic artificial muscles. Finally, an experimental platform of the pneumatic artificial muscle-driven antagonistic joint is set up. Experiments are conducted to verify the effectiveness of the proposed method under both fixed and open joint position conditions. A comparative experiment is conducted under different loads to verify the universality of the proposed method. The proposed modeling and control scheme comprehensively considers the relatively independent control among position, force and stiffness of the bionic joint, and has a great application prospect in the scenes where a robot interacts with human or environment.

Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/22418
Collection机器人学研究室
Corresponding Author张道辉
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院大学
3.南开大学计算机与控制工程学院
4.东北大学信息科学与工程学院
Recommended Citation
GB/T 7714
张道辉,赵新刚,韩建达,等. 气动人工肌肉拮抗关节的力与刚度独立控制[J]. 机器人,2018,40(5):587-596.
APA 张道辉,赵新刚,韩建达,马红阳,&张弼.(2018).气动人工肌肉拮抗关节的力与刚度独立控制.机器人,40(5),587-596.
MLA 张道辉,et al."气动人工肌肉拮抗关节的力与刚度独立控制".机器人 40.5(2018):587-596.
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