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摘要:
空间操作任务对空间机械臂的柔顺控制品质要求不断提高，采用单一控制方法易造成较大的末端接触力超调或动态偏差。结合自适应阻抗与自适应导纳控制方法的优点，提出一种基于分段自适应的力/位混合控制方法。所提方法按空间实现力、位分控，并基于子空间期望末端加速度叠加的方式，求取关节控制力矩。力空间控制中，采用自适应导纳控制实现初始位置到目标位置的快速过渡，在接近目标位置时，采用自适应阻抗控制实现末端的高精度稳定控制；由于位置空间控制中期望力和接触力均为0，直接采用PD控制即可获得与自适应控制方法相同的效果。仿真结果表明：相较于自适应阻抗或自适应导纳单一控制，采用所提方法时接触力超调量和动态偏差更小，全程控制品质更优。
Abstract:The requirements for the compliant control quality of the space manipulator are continuously improved in space manipulation tasks. Using a single control method is likely to cause large end contact force overshoot or dynamic deviation. This study proposes and implements a force/position hybrid control approach based on staged adaptation, which combines the advantages of adaptive impedance and adaptive admittance control systems. The method realizes separate control of force and position according to space and calculates the joint control torque based on the superposition of expected terminal acceleration in subspace. Because the expected force and the contact force are both 0 in the position space control, the same result as the adaptive control method can be obtained by directly using PD control. Adaptive admittance control is used in the force space control to realize the rapid transition from the initial position to the target position, and adaptive impedance control is used to realize the high-precision and stable control of the end when approaching the target position. The simulation results show that compared with the single use of adaptive impedance or adaptive admittance control, the contact force overshoot and dynamic deviation are smaller when the staged adaptive force/position hybrid control method is adopted, and the whole process control quality is better.
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Key words:
- manipulators /
- compliance control /
- force control /
- stages /
- adaptive algorithms
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图 4 分段自适应力/位混合控制下机械臂末端位置曲线
Figure 4. Curves of manipulator end position by staged adaptive force/position hybrid control
图 6 分段自适应力/位混合控制下关节控制力矩曲线
Figure 6. Curves of joint control torques by staged adaptive force/position hybrid control
表 1 机械臂标准DH参数
Table 1. Standard DH parameters of manipulator
连杆号 α/（°） l/mm d/mm 1 90 0 660 2 180 432 149 3 90 0 60.0 4 −90 0 433 5 90 0 0 6 0 0 56.3 注：α为关节扭角；l为连杆长度；d为关节偏移。 
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表 2 机械臂惯性参数
Table 2. Inertia parameters of manipulator
连杆号 χ/kg px/mm py/mm pz/mm Ixx/（kg·mm2） Iyy/（kg·mm2） Izz/（kg·mm2） Ixy/（kg·mm2） Iyz/（kg·mm2） Izx/（kg·mm2） 1 75.0 0 −323 −0.235 1.08×107 1.77×105 1.07×107 0 0 0 2 50.8 −282 0 1.97 1.78×105 5.39×106 5.51×106 0 −4.51×104 0 3 14.4 0 −0.917 142 4.74×105 4.76×105 1.23×104 0 0 0 4 2.66 0 38.9 0 7.64×103 1.73×103 7.55×103 0 0 0 5 0.484 0 0 14.4 282 294 102 0 0 0 6 0.010 0 0 −8.13 0.938 0.938 0.124 0 0 0 注：χ为连杆质量；px、py、pz为连杆质心在由DH参数建立的连杆坐标系下的位置分量；Ixx、Iyy、Izz、Ixy、Iyz、Izx为连杆在连杆坐标系的二阶惯量。
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表 3 3种控制方法下接触力动态响应
Table 3. Dynamic response of contact force by three control methods
控制方法 超调量/% 动态偏差/% 自适应导纳控制 3.94 3.31 自适应阻抗控制 51.5 0.30 分段自适应力/位混合控制 3.92 0.30
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