CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Thesis Advisor王硕
Degree Grantor中国科学院自动化研究所
Place of Conferral中国科学院自动化研究所
Degree Discipline控制理论与控制工程
Keyword协作机器人 过渡规划 参数校正 牵引控制 高速轻量臂







Other Abstract

In recent years, the design, planning, and control technology of collaborative robots have developed rapidly. To enhance the cooperation ability of the robot, it is necessary to improve the real-time performance and smoothness of the motion planning based on the traditional motion control and dynamics analysis, achieve better guiding performance, and enhance the safety. This thesis focuses on the dynamic pose planning, dynamic parameter calibration, sensorless guiding control, and the design and control method of collaborative manipulator. The main contents are as follows:

Firstly, a transition method between adjacent trajectories is proposed to deal with the problem of dynamic pose planning of multi-joint robots, including position transition and orientation transition. Based on the Bezier curve, the position transition method achieve smooth transitions between lines and circles, ensuring G2 continuity. In the orientation transition, the control point selection method of the spherical Bezier curve is given and the smoothness of the trajectory is proved. An iterative calculation method is used to interpolate. The rotation axis and angular velocity transit to the target state smoothly. Experiments show that the method can smooth the robot trajectory in real time and reduce the pause.

Secondly, the evaluation index of parameter calibration method is proposed for the dynamic parameter calibration problem. The commonly used inertial parameter and friction parameter calibration models are compared, and the advantages and disadvantages of different methods are analyzed. By simulations and experiments, the results of different calculation methods are compared, and the selection strategy of the model and calculation method is illustrated by taking the six-degree-of-freedom industrial robot ER20-C10 as an example.

Thirdly, the external force estimation and force following control method of the multi-joint robot are proposed to deal with the sensorless guiding problem. The inertial force and friction of the links and driving systems are analyzed. The nonlinear dynamic model of the industrial robot is built and its parameters are calibrated by an optimization method. A guiding method based on virtual mass and virtual friction is proposed to make the end-effector follow the direction of external force and suppress jitters. The experimental results show that the calibrated parameters can accurately calculate the external force and the control method achieves good guiding performance. 

Fourthly, for the design and control problem of the collaborative manipulator, the structure and control system of the robot are designed, the inertia of links is reduced, and the path following method under constrained joint torques and the trajectory tracking control based on the feedback linearization method are analyzed. The safety of human-robot collaboration is improved and the tracking error is reduced. Finally, the proposed trajectory planning and dynamic control methods are integrated into the robot system. Experiments verify the effectiveness of the proposed methods and designs.

Finally, the conclusions are given and the future work is addressed.

Document Type学位论文
Recommended Citation
GB/T 7714
张少林. 人机协作多关节机器人的规划与控制方法研究[D]. 中国科学院自动化研究所. 中国科学院自动化研究所,2019.
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人机协作多关节机器人的规划与控制方法研究(8444KB)学位论文 开放获取CC BY-NC-SA
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