陶 晗,曲智勇,丛大成.液压并联机器人力/位混合控制策略研究[J].农业机械学报,2018,49(9):361-366,405.
TAO Han,QU Zhiyong,CONG Dacheng.Hybrid Position/Force Control Scheme for Hydraulic Parallel Manipulator[J].Transactions of the Chinese Society for Agricultural Machinery,2018,49(9):361-366,405.
摘要点击次数: 107
全文下载次数: 102
液压并联机器人力/位混合控制策略研究   [下载全文]
Hybrid Position/Force Control Scheme for Hydraulic Parallel Manipulator   [Download Pdf][in English]
投稿时间:2018-02-28  
DOI:10.6041/j.issn.1000-1298.2018.09.042
中文关键词:  并联机构  混合控制  液压伺服  视觉伺服
基金项目:国家自然科学基金项目(51475116)
作者单位
陶 晗 哈尔滨工业大学 
曲智勇 哈尔滨工业大学 
丛大成 哈尔滨工业大学 
中文摘要:针对液压驱动的六自由度并联机构,提出了基于机器视觉的力/位混合控制策略,以实现并联机构的跟随对接等需要与环境密切接触的任务。平台的视觉系统由一架CCD摄像机和一个激光测距器构成,用来测量平台与目标之间的相对距离,同时通过一个平板式六自由度力传感器对接触过程的作用力进行测量。其控制器由内外两个闭环构成,并通过补偿环节对外力扰动进行修正。最后通过若干试验验证整个控制方式的有效性。试验结果表明,整个系统在相对位置跟踪和接触力控制方面具有优异的性能。在整个对接试验过程中,接触力被控制在300N之内。
TAO Han  QU Zhiyong  CONG Dacheng
Harbin Institute of Technology,Harbin Institute of Technology and Harbin Institute of Technology
Key Words:parallel manipulator  hybrid control  hydraulic servo  vision servo
Abstract:The aim was to propose a combined position/force control scheme for Stewart parallel platform’s interacting tasks with environment or human body based on force sensor and vision system. The vision system included a high resolution camera and a laser range finder which aimed at providing global position information. To enhance the performance of industrial tasks interacting with the environment, a novel hybrid position/force control algorithm using exteroceptive vision system for hydraulic Stewart parallel platform was proposed. A two control loop scheme was designed for interacting tasks, and gravity compensation was demonstrated to balance the disturbance. A full experimental system was built and a number of experiments were performed. The whole experimental system consisted of two parts, which was the hydraulic parallel manipulator and the docking simulation system. Firstly, a relative position tracking experiment was conducted to investigate the manipulator’s high speed tracking ability. Movement commands of ±100mm/s in y axis and ±80mm/s in z axis were given to actuate the manipulator. From the experiment result, the relative position tracking errors of y and z axes were both smaller than 10mm. And then the dynamic docking experiment was performed to investigate the interacting performance with the target object of the proposed combined position/force control law, where the movement speeds of the docking simulator was driven along the y axis at 50mm/s and z axis at 40mm/s. In dynamic docking experiment, the contact force of the manipulator was controlled within 300N, the hydraulic manipulator could track and dock with the moving target reliably and quickly. The above two experiments were conducted and the experiment results demonstrated the effectiveness and stability of the proposed algorithm.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

   下载PDF阅读器