摘要
当前建筑业仍然是劳动密集型产业,工地作业往往有较高的强度和重复性,其中以钢筋绑扎工序为最。因此,为了节省了人力资源,降低工人劳动强度,以轮腿式钢筋绑扎机器人为平台,对其横向运动控制展开研究,提出了一种基于阻抗控制的横向移动控制。采用雅可比矩阵法对机器人横向移动机构进行了运动学分析,采用拉格朗日法对其进行了动力学分析。实验采用阻抗控制使机器人适应横向移动带来的冲击,阻抗控制所跟踪S型曲线轨迹使机器人运动更加柔顺。实验观测和结果表明,机器人运动平稳,横向移动机构两侧同步性较高,力矩输出符合预期,完全实现了机器人在钢筋网面的横向移动。为钢筋绑扎机器人的运动控制提供了一个可行且实用的解决方案。
In this paper,a new rebar-binding robot is used as a platform,and a transversal movement control based on impedance control is proposed.In this paper,the kinematic analysis of the transversal movement mechanism of the robot is carried out by Jacobi matrix method,and its dynamics is analyzed by Lagrange method.In the experiments,this paper adopts impedance control to make the robot adapt to the impacts brought by the transversal movement,and the Scurve trajectory tracked by the impedance control makes the robot's movement more supple and smooth.The experimental observations and results show that the robot moves smoothly,the synchronization between the two sides of the transversal movement mechanism is high,the torque output meets the expectation,and the transversal movement of the robot on the surface of the rebar mesh is fully achieved.
出处
《工业控制计算机》
2025年第1期33-35,38,共4页
Industrial Control Computer
基金
国家自然科学基金资助(U1913603)。
