基于自由度约束与正弦摩擦补偿的遥控器装配策略

doi:10.13196/j.cims.2023.05.002

计算机集成制造系统 ›› 2023, Vol. 29 ›› Issue (5): 1429-1442.DOI: 10.13196/j.cims.2023.05.002

基于自由度约束与正弦摩擦补偿的遥控器装配策略

邓振宇^1,2,柳宁^2,3,闵飞炎^1,2,王高^1,2+

1.暨南大学信息科学技术学院
2.暨南大学机器人智能技术研究院
3.暨南大学智能科学与工程学院

出版日期:2023-05-31 发布日期:2023-06-13
基金资助:
国家自然科学基金面上资助项目(62172188);中央高校基本科研业务费专项资金资助项目(21620108)。

Remote controller assembly strategy based on degrees-of-freedom constraint and sinusoidal friction compensation

DENG Zhenyu^1,2,LIU Ning^2,3,MIN Feiyan^1,2,WANG Gao^1,2+

1.College of Information Science and Technology,Jinan University
2.Robotics Intelligence Technology Research Institute,Jinan University
3.School of Intelligent Systems Science and Engineering,Jinan University

Online:2023-05-31 Published:2023-06-13
Supported by:
Project supported by the National Natural Science Foundation,China(No.62172188),and the Fundamental Research Funds for the Central Universities,China(No.21620108).

摘要/Abstract

摘要： 为解决遥控器装配等组装场景非规则外形零件装配问题,提出一种基于自由度约束与正弦摩擦补偿的装配策略设计方法。首先,该方法分析待装配体几何特征,利用接触状态的自由度约束方程设计装配动作,通过不同接触状态之间的迁移逐步约束待装配体之间的相对自由度;之后,针对常用摩擦力补偿算法受静摩擦力影响较大问题,提出一种基于正弦摩擦补偿的摩擦模型,用于补偿静摩擦力。同时,基于无力传感器的关节阻抗算法框架设计运动轨迹和外力,并判断装配状态迁移条件,有效提升装配成功率。实验结果表明,静摩擦补偿后的关节阻抗控制算法明显提升了静力感知性能,提出的装配策略在非规则外形零件组装场景成功率达94%,装配过程的机器人末端出力不超过20 N,可保证在装配力较小条件下以较高成功率完成装配。

关键词: 自由度约束, 摩擦力补偿, 阻抗控制, 无力传感器, 柔顺装配

Abstract: To solve the assembly problems of irregular shape objects such as remote controller,an assembly strategy design method based on degrees-of-freedom constraints and sinusoidal friction compensation was proposed.The geometric features of the objects were analyzed,the degrees-of-freedom constraint equations of contact states were used to design assembly actions,and the relative degrees-of-freedom of the objects was gradually constrained by the transition between different contact states.Aiming at the problem that common friction compensation algorithms were greatly affected by static friction force,a friction model based on sinusoidal friction compensation was proposed to compensate static friction.In the meanwhile,to improve the success rate of assembly,the motion trajectory design,external force design and assembly state transition detecting were carried out under the joint impedance control framework without force sensor.The experimental results showed that the static force sensing performance of the joint impedance control algorithm was significantly improved after static friction compensation,the success rate of the designed assembly strategy reaches 94% in the irregular shape object assembly scenario,and the manipulator end force of the assembly process was less than 20 N,which could ensure the assembly be completed with high success rate under the condition of small assembly force.

Key words: degrees-of-freedom constraint, friction compensation, impedance control, no force sensor, compliant assembly

中图分类号:

TP242.2

邓振宇, 柳宁, 闵飞炎, 王高. 基于自由度约束与正弦摩擦补偿的遥控器装配策略[J]. 计算机集成制造系统, 2023, 29(5): 1429-1442.

DENG Zhenyu, LIU Ning, MIN Feiyan, WANG Gao. Remote controller assembly strategy based on degrees-of-freedom constraint and sinusoidal friction compensation[J]. Computer Integrated Manufacturing System, 2023, 29(5): 1429-1442.

[1]	聂振邦, 于海斌, 曾鹏. 动态环境下移动机器人增量式候选路径集生成及轨迹规划方法[J]. 计算机集成制造系统, 2023, 29(5): 1506-1516.
[2]	双丰, 刘旭兀, 李少东, 刘熹, 陈明岐. 基于GPF-RRT*的机械臂自主运动规划[J]. 计算机集成制造系统, 2023, 29(4): 1174-1185.
[3]	陈守欢, 周婷婷, 胡天亮. 六自由度铣削加工机器人刚度建模及误差补偿[J]. 计算机集成制造系统, 2023, 29(2): 404-418.
[4]	薛祥儒, 张承瑞, 胡天亮, 陈齐志, 丁信忠. 基于PSO-SVR算法的工业机器人分级标定方法[J]. 计算机集成制造系统, 2023, 29(1): 51-60.
[5]	李扬, 张蕾, 李鹏飞, 王晓华, 王文杰. 基于改进RRT结合B样条的机械臂运动规划方法[J]. 计算机集成制造系统, 2023, 29(1): 254-263.
[6]	潘柏松, 颜天野, 胡鑫达, 罗路平, 翁微妮. 基于几何约束与隐马尔可夫链模型的轴孔装配策略[J]. 计算机集成制造系统, 2022, 28(12): 3768-3778.
[7]	刘少睿, 田威, 沈建新, 李波, 胡俊山. 多机器人协同制造系统时序约束任务调度优化方法[J]. 计算机集成制造系统, 2022, 28(12): 3899-3911.
[8]	唐溪, 姚锡凡, 董艺, 张峻铭. 基于改进CenterNet的焊缝起始向量检测与机器人位姿估计方法[J]. 计算机集成制造系统, 2022, 28(9): 2865-2880.
[9]	张振, 李新宇, 董昊臻, 周林, 高亮. 基于约束采样RRT的机械臂运动规划[J]. 计算机集成制造系统, 2022, 28(6): 1616-1626.
[10]	焦嘉琛, 田威, 张霖, 李波, 胡俊山. 工业机器人作业误差分级补偿技术[J]. 计算机集成制造系统, 2022, 28(6): 1627-1637.
[11]	杨莹, 张莉, 郭瑞鸿, 孟俊熙, 曹洋. 基于改进快速搜索随机树算法的包裹分拣路径规划算法[J]. 计算机集成制造系统, 2022, 28(3): 951-958.
[12]	蒋君侠,张圣麟,朱伟东. 基于承载力分配法的多功能重载AGV结构优化[J]. 计算机集成制造系统, 2020, 26(8): 2083-2091.
[13]	王治,刘检华,刘少丽,任杰轩,吴天一. 基于双目视觉的管路位姿测量[J]. 计算机集成制造系统, 2019, 25(第5): 1047-1054.
[14]	刘晓飞,姚建涛,赵永生. 冗余驱动并联机构的驱动力同步协调控制[J]. 计算机集成制造系统, 2018, 24(第9): 2140-2149.
[15]	刘卫朋,邢关生,陈海永,孙鹤旭. 基于增强学习的机械臂轨迹跟踪控制[J]. 计算机集成制造系统, 2018, 24(第8): 1996-2004.

基于自由度约束与正弦摩擦补偿的遥控器装配策略

Remote controller assembly strategy based on degrees-of-freedom constraint and sinusoidal friction compensation

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics