SIA OpenIR  > 机器人学研究室
机器人串联弹性关节驱动器的刚度控制方法
Alternative TitleRobot Joint Stiffness Control Based on Series Elastic Actuator
林光模; 赵新刚; 韩建达; 刘光军
Department机器人学研究室
Source Publication信息与控制
ISSN1002-0411
2019
Volume48Issue:3Pages:364-371
Indexed ByCSCD
CSCD IDCSCD:6546009
Contribution Rank1
Funding Organization国家高技术研究发展计划资助项目(2015AA042302)
Keyword串联弹性驱动器 刚度控制 人机协作
Abstract

机器人关节的柔顺性在人机协作过程中具有重要作用,然而固定的关节柔性无法满足动态变化的人机协作需求,因此对机器人的关节驱动器提出了具有刚度调节能力的要求.本文采用阿基米德螺旋线平面涡卷弹簧作为机器人关节的柔性元件,并提出一种可用于具有固定刚度的串联弹性驱动器的刚度控制方法.根据关节刚度的定义,将测量得到的弹簧输出端角度用于计算弹簧的输入端转角,使得机器人关节驱动器的等效刚度可以被调整到所期望的大小.该方法以电机位置控制为内环,关节刚度控制为外环,简化了控制器设计,并实现了解耦控制.对所设计的刚度控制器进行了分析.最后在自主设计的单自由度薄型串联弹性驱动器实验平台上进行了刚度调节实验,包括刚度的双向阶跃、零刚度和正弦变化的刚度,实验结果表明关节等效刚度能准确跟踪期望值,验证了该方法的有效性.

Other Abstract

The flexibility of robot joints plays an important role in the human-robot collaboration process. However, the fixed flexible joint cannot meet the demands for the dynamic variation of human-robot collaboration. Thus, it is necessary for the robot joint actuator to be capable of stiffness tuning. A stiffness control method that can be applied to a series elastic actuator with fixed stiffness and in which Archimedes spiral spring is adopted as the flexible element of robot joint is proposed. According to the definition of joint stiffness, the measured output angle of spring can be used to calculate the input angle of spring, so that the equivalent stiffness of robot joint actuator can be adjusted into the expected value. This method regards the motor position controller as the inner loop and the joint stiffness controller as the outer loop, which simplifies the design of controllers and enables the decoupling control. The designed stiffness controller is theoretically analyzed. Finally, a stiffness adjustment experiment was carried out on the experiment platform with the self-designed single DOF thin-type series elastic actuator for cases of two-way step of stiffness, zero stiffness, and stiffness with sinusoidal variation. The experiment results show that the equivalent stiffness of joint can accurately trace the expected value, which verifies the validity of the proposed method.

Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/25285
Collection机器人学研究室
Corresponding Author林光模
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.中国科学院机器人与智能制造创新研究院
3.中国科学院大学
4.瑞尔森大学航空航天工程系
Recommended Citation
GB/T 7714
林光模,赵新刚,韩建达,等. 机器人串联弹性关节驱动器的刚度控制方法[J]. 信息与控制,2019,48(3):364-371.
APA 林光模,赵新刚,韩建达,&刘光军.(2019).机器人串联弹性关节驱动器的刚度控制方法.信息与控制,48(3),364-371.
MLA 林光模,et al."机器人串联弹性关节驱动器的刚度控制方法".信息与控制 48.3(2019):364-371.
Files in This Item:
File Name/Size DocType Version Access License
机器人串联弹性关节驱动器的刚度控制方法.(2533KB)期刊论文出版稿开放获取CC BY-NC-SAView Application Full Text
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[林光模]'s Articles
[赵新刚]'s Articles
[韩建达]'s Articles
Baidu academic
Similar articles in Baidu academic
[林光模]'s Articles
[赵新刚]'s Articles
[韩建达]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[林光模]'s Articles
[赵新刚]'s Articles
[韩建达]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 机器人串联弹性关节驱动器的刚度控制方法.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.