面向实时自避碰的双臂机器人力矩控制策略

doi:10.13976/j.cnki.xk.2023.2066

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摘要为解决双臂机器人运动过程中的自碰撞问题，提出了一种面向实时自避碰的双臂机器人力矩控制策略。利用机械臂正向运动学构建双臂机器人动态骨架包围盒，用于简化计算关节间最小距离；根据机械臂关节空间阻抗控制规则，设计了基于关节间距离的力矩控制算法，将运动中各关节间距离转换为避碰力矩，并将避碰力矩和其他任务的期望力矩相加，从而得到控制双臂机器人运动的实际力矩。实验表明：当双臂机器人的设定杆件相互靠近且达到避碰距离时，本研究所提出的自避碰策略能够及时对机器人的运动关节产生一组平滑的避碰力矩，避免了机器人自身发生碰撞，验证了所提算法的有效性及实用性。

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	李肖
	李世其
	韩可
	李卓
	熊友军
	谢铮

关键词 ：双臂机器人, 自避碰, 力矩控制, 动态骨架包围盒

Abstract：In this study， we propose a dual-arm robot torque control strategy for real-time self-collision avoidance to avoid self-collision during the dual-arm robot motion. We construct the dynamic skeleton surround box of the dual-arm robot considering the forward kinematics of the robot arm and use it to simplify the calculation of the minimum distance between joints. According to the impedance control rule of the robot arm joint space， we design a torque control algorithm based on the distance between joints to convert it into motion to generate a collision-avoidance torque. Next， we add the collision avoidance torque to the desired torque of other tasks to obtain the actual torque to control the dual-arm motion of the robot. The experiments show that when the set rods of the dual-arm robot are close to each other and reach the collision avoidance distance， the proposed self-collision avoidance strategy generates a set of smooth collision avoidance torque for the moving joints of the robot in time to avoid the collision with itself. This verifies the effectiveness and practicality of the proposed algorithm.

Key words： dual-arm robot self-collision avoidance torque control dynamic skeleton surround box

收稿日期: 2022-02-16 出版日期: 2023-05-06

ZTFLH:

TP242

基金资助:广东省重点领域研发计划项目(2019B010154003)；广东省机器人定位导航技术企业重点实验室项目(2020B121202011)

通讯作者: 李世其,sqli@hust.edu.cn E-mail: sqli@hust.edu.cn

作者简介: 李肖(1995-)，男，硕士生。研究领域为机器人运动规划，机器人运动控制。
李世其(1965-)，男，博士，教授。研究领域为人机交互，智能制造，机器视觉，机器人控制。
韩可(1995-)，男，博士生。研究领域为机器人运动规划，物理人机交互。

引用本文:

李肖, 李世其, 韩可, 李卓, 熊友军, 谢铮. 面向实时自避碰的双臂机器人力矩控制策略[J]. 信息与控制, 2023, 52(2): 211-219,234.
LI Xiao, LI Shiqi, HAN Ke, LI Zhuo, XIONG Youjun, XIE Zheng. Real-time Self-collision Avoidance-oriented Torque Control Strategy for Dual-arm Robot. Information and control, 2023, 52(2): 211-219,234.

链接本文:

https://xk.sia.cn/CN/10.13976/j.cnki.xk.2023.2066 或 https://xk.sia.cn/CN/Y2023/V52/I2/211

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