基于VSA驱动平面机器人的快速、可靠约束操作

Andrew L. Bernhard, J. Schimmels
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引用次数: 0

摘要

本文介绍了一种平面3R机器人的设计和性能,该机器人能够在刚性环境下进行灵巧的约束操作。本文还描述了一种刚度比约为500的新型可变刚度致动器(VSA)。采用变刚度驱动和位置/柔度组合操作路径:1)在约束位置存在模型误差的情况下,允许机器人沿运动约束方向被动顺应环境;2)在阻力存在的情况下,为机器人沿运动无约束方向的精确运动控制产生高刚度。这种操作策略提供了灵巧的情况下,机械工作必须执行,同时遵守约束。以转动钢曲柄举重物为例,对其操作策略和机器人性能进行了评价。结果表明,采用被动柔顺控制时,机器人完成任务的速度比采用传统主动柔顺控制时快29倍,约束力降低80% (vsa处于最高刚度时)。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Fast, Reliable Constrained Manipulation Using a VSA Driven Planar Robot
This paper presents the design and performance of a planar 3R robot capable of dexterous constrained manipulation when interacting with a stiff environment. A novel variable stiffness actuator (VSA) having a stiffness ratio of approximately 500 is also described. Variable stiffness actuation, together with a combined position/compliance manipulation path, is used to: 1) allow the robot to passively comply with its environment along kinematically constrained directions despite model error in constraint locations, and 2) generate high stiffness for accurate motion control along kinematically unconstrained directions despite resisting forces. This manipulation strategy provides dexterity for cases in which mechanical work must be performed while complying with constraints. The manipulation strategy and robot performance were evaluated with the task of turning a steel crank to lift a weight. Results show that, when using passive compliance control, the robot completed the task 29 times faster with constraint forces 80% lower than when using traditional active compliance control (with VSAs at their highest stiffness).
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