基于阻抗控制的人机协作范式研究及其机器人装配应用

赵兴炜, 陈沂洺, 钱璐, 陶波, 丁汉

工程（英文） ›› 2023, Vol. 30 ›› Issue (11) : 83-92.

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工程（英文） ›› 2023, Vol. 30 ›› Issue (11) : 83-92. DOI: 10.1016/j.eng.2022.08.022
研究论文
Article

基于阻抗控制的人机协作范式研究及其机器人装配应用

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Human-Robot Collaboration Framework Based on Impedance Control in Robotic Assembly

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摘要

人-机器人协作由于人和机器人的优势互补而成为一个新兴的研究领域。本文提出了一种基于阻抗控制人机协作理论框架。在人机理论协框架下，人是决策者，机器人是执行者，装配任务提供环境约束。机器人是执行装配动作的主要执行者，具有位置控制、拖动控制、正阻抗控制和负阻抗控制等方式。为了揭示人机协作框架的特点，本文讨论了不同控制模式的切换条件图和人机协同耦合系统的稳定性分析。最后进行了人机协作装配实验，在装配公差为0.08 mm或配合过盈配合时，均可完成装配任务。实验表明，人机协同装配具有人与机器人的互补优势，能够有效地完成复杂的装配任务。

Abstract

Human-robot (HR) collaboration (HRC) is an emerging research field because of the complementary advantages of humans and robots. An HRC framework for robotic assembly based on impedance control is proposed in this paper. In the HRC framework, the human is the decision maker, the robot acts as the executor, while the assembly environment provides constraints. The robot is the main executor to perform the assembly action, which has the position control, drag and drop, positive impedance control, and negative impedance control modes. To reveal the characteristics of the HRC framework, the switch condition map of different control modes and the stability analysis of the HR coupled system are discussed. In the end, HRC assembly experiments are conducted, where the HRC assembly task can be accomplished when the assembling tolerance is 0.08 mm or with the interference fit. Experiments show that the HRC assembly has the complementary advantages of humans and robots and is efficient in finishing complex assembly tasks.

关键词

人机协作 / 阻抗控制 / 机器人装配

Keywords

Human-robot collaboration / Impedance control / Robotic assembly

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赵兴炜, 陈沂洺, 钱璐. 基于阻抗控制的人机协作范式研究及其机器人装配应用. Engineering. 2023, 30(11): 83-92 https://doi.org/10.1016/j.eng.2022.08.022

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