作　　者： ; ; (陈杨）;

机构地区： 华南理工大学机械与汽车工程学院

出　　处： 《上海交通大学学报》 2016年第6期879-883,共5页

摘　　要： 针对双机器人协调搬运作业中的内力控制问题,提出了基于遗传算法的阻尼比例微分(PD)控制方法.给出了广义阻尼PD控制率,建立了用于协调搬运中内力控制仿真的弹簧阻尼质量模型,基于纯运动学协调实验的位置误差数据设计了仿真系统的位置误差扰动输入信号,在所建仿真系统中使用遗传算法进行PD系数的优化,并利用原有双机器人运动学协调实验平台,从机器人腕部加入力传感器搭建了力学协调实验平台,进行了举起-移动-放下的协调搬运实验.结果表明,经力误差控制系数的优化后,双机器人z轴方向的内力控制误差比优化前的平均降低了14.8%,从而验证了所提出方法的有效性. This paper focused on the internal force control in coordinated transportation by dual robots.The method of genetic algorithm（GA）-optimized proportion-derivative（PD）damping control was proposed.The function of general PD damping control was presented,and the mass-damper-spring model was established for the simulation of internal force control.The disturbing input positional error signal of the simulation system was designed based on the positional error data of previous kinematic experiments.The GA-based optimization process of PD parameters was described.Moreover,the experimental platform for dual-robot force coordination was established based on the original platform of dual-robot kinematic coordination.Finally,the experiment of＂lift-move-drop＂linear coordinated transportation was implemented.The analysis of experimental results indicates that the mean internal force error along zaxis is reduced by14.8% after PD parameter optimization,which validited the proposed method.

关 键 词： 双机器人 协调搬运 内力控制 阻尼控制

领　　域： [自动化与计算机技术] [自动化与计算机技术]