仿人轻型机械臂人机协作模式关键技术研究

项目名称： 仿人轻型机械臂人机协作模式关键技术研究

项目编号： No.61503098

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 自动化技术、计算机技术

项目作者： 张赫

作者单位： 哈尔滨工业大学

项目金额： 18万元

中文摘要： 本项目以仿人手臂轻型机械臂为研究对象，面向人机协作模式的安全性和精确控制两个核心技术，以同时满足两个相互关联的技术性能为目标开展研究。首先，综合考虑轻型机械臂关节柔性和电机动力学因素，进行强耦合非线性系统的精细化建模研究，并对摩擦阻尼、间隙等非线性因素进行参数辨识方法的研究；其次，基于系统分解的思想设计满足工程需要的实用型轨迹跟踪控制器；再次，利用仿人臂的冗余特性，通过零空间的自运动规划实现机械臂对意外碰撞的柔顺特性，从而在实现碰撞安全性的同时保证操作端在笛卡尔空间的轨迹跟踪性能；然后，通过虚拟势场方法的研究，同步实现机械臂在笛卡尔空间的轨迹跟踪运动和零空间的避障运动，从而避免二次碰撞的发生。最后，搭建7-DOF仿人机械臂样机系统，验证研究结论的正确性。以上研究成果将为人机协作模式这一工业机器人发展趋势提供理论和技术支撑。

中文关键词： 人机协作；仿人轻型机械臂；安全控制策略；零空间运动规划

英文摘要： This project use the humanoid light weight manipulator as a research object, is committed to two core technologies about the safety of human-robot collaboration and precise control, carry out research so as to meet the technical performance of two interrelated research at the same time. Firstly, considering the impact of light manipulator joint flexibility and motor dynamic factors on refine modeling of strong coupling and nonlinear systems; achieve parameter identification of the friction damping, clearance and other nonlinear factors. Secondly, design a practical trajectory tracking controller to meet project needs based on the idea of system decomposition. And then, use the redundancy characteristic of humanoid arm to achieve supple characteristics when robot arm accidental collision by self-motion planning through null-space. At the same time, achieve the robot arm`s trajectory tracking in Cartesian space and obstacle avoidance movement in null-space by studying the virtual potential field method, thus avoiding the occurrence of secondary collisions. Finally, build the 7-DOF humanoid robot arm prototype system to verify the correctness of the research conclusion. The above research will provide theoretical and technical support for human-computer collaborative model which reflect the development trend of the industrial robot.

英文关键词： Human-robot collaboration;Humanoid Light weight Manipulator;Security control strategy;Motion planning in null-space