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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Dynamics and Control of an Anthropomorphic Compliant Arm Equipped With Friction Clutches
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Dynamics and Control of an Anthropomorphic Compliant Arm Equipped With Friction Clutches

机译：配备摩擦离合器的拟人顺应性手臂的动力学和控制

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摘要

Robots powered by intrinsic compliant actuation systems have been developed in the past years to provide improved mechanical robustness and physical interaction performance. Despite these benefits, the incorporation of passive elasticity in the actuation system can however generate unwanted oscillations complicating the control of these systems. An approach to address this issue proposes the addition of physical damping in the transmission system of the compliant joints. A particular embodiment of this physical damping can be based on clutch mechanisms integrated in parallel to the physical elasticity. This paper studies a class of variable impedance robotic arms driven by compliant actuation systems equipped with a clutch mechanism in parallel to the passive compliant transmission element. The dynamics of these systems is derived and a novel control scheme extracted from the dynamic model of the robot is proposed. The control scheme modulates the friction torque applied by the clutch to effectively operate the robot arm at a stiff mode with high precision or disengage the clutch when physical interactions occur and detected through a sensor-less scheme. Extended simulation and experimental results are presented to demonstrate the performance of the proposed controller.
机译：在过去的几年中，已经开发了由内在的兼容驱动系统驱动的机器人，以提供改进的机械强度和物理交互性能。尽管有这些好处，但是在致动系统中并入被动弹性会产生不希望的振荡，使这些系统的控制变得复杂。解决该问题的方法提出在顺应性接头的传动系统中增加物理阻尼。该物理阻尼的特定实施例可以基于与物理弹性平行集成的离合器机构。本文研究了一类由自适应驱动系统驱动的可变阻抗机械臂，该自适应驱动系统配备有与无源柔性传输元件平行的离合器机构。推导了这些系统的动力学特性，并提出了一种从机器人动力学模型中提取的新型控制方案。该控制方案可调节由离合器施加的摩擦扭矩，从而在刚性模式下以高精度有效地操作机器人手臂，或者在发生物理相互作用并通过无传感器方案检测到物理相互作用时使离合器脱开。扩展的仿真和实验结果被提出来证明所提出的控制器的性能。

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