仿人机械臂同步控制仿真研究
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第36卷第7期 文章编号：1006-9348(2019)07-0302-06
计算机仿真
仿人机械臂同步控制仿真研究
2019年7月
杨涛1 ,邹河彬】，刘小勇2 ,迟立国I (1.北京精密机电控制设备研究所，北京100076 ；2.火箭军驻长征航天控制工程公司军事代表室，北京100076)
摘要:研究7自由度仿人型机械臂的高精度的多关节同步控制问题。仿人机械臂采用7自由度串联结构，机械臂末端的轨 迹精度依赖7个关节的位置同步精度。机械臂采用基于EtheiCAT的分布式控制架构，每个关节具有独立的伺服驱动器，存
Engineering Company of China Academy of Launch Vehicle Technology, Beijing 100076, China)
ABSTRACT：The problem of high precision multi joint synchronous cຫໍສະໝຸດ Baiduntrol for a 7 degree of freedom humanoid ma nipulator is studied. The humanoid manipulator adopts a series of 7 degrees freedom structure, and the motion preci・ sion of the end of the manipulator depends on the synchronous motion accuracy of the 7 joints. The manipulator adopts a distributed control architecture based on EtherCAT. Each joint has independent servo driver, and there is no syn chronization between joints. It causes the trajectory error of the end of the manipulator In order to achieve humanoid manipulator's high precision synchronous control, manipulator kinematics model was analysed, the characteristics of network control system was combined, and the main error sources of synchronization error located in the joint sampling and servo control were not synchronized. An application method was put forward based on network synchronization er ror computation and the dynamic compensation of joints. In order to verify the control effect, we designed a semi physical simulation system with joints in loop, the simulation experiments in the joint space and Descartes space were carried out. The results show that the synchronization control method for multi joint distribution network based on dis tribute clock can achieve high precision control of humanoid manipulator. KEYWORDS:Manipulator； Synchronous control； Distribute clock； Semi-physical simulation
在各个关节响应不同步的问题,会引起机械臂末端轨迹与理论轨迹存在动态位姿误差 。为了达到仿人机械臂多关节高精度 同步控制的目的，分析了机械臂运动学模型并结合控制系统的网络特点 ，定位主要同步误差来源误差来源于关节采样和伺 服控制不同步，提出了基于网络同步误差实时计算和关节从站时钟动态补偿的网络分布时钟同步控制策略在仿人机械臂控 制中的应用方法。为验证控制效果，设计了关节在环的半物理仿真系统,对机械臂在关节空间和笛卡尔空间进行了仿真分 析，结果表明基于网络分布时钟的多关节同步控制方法能够实现仿人机械臂的高精度控制 。 关键词:机械臂；同步控制;分布时钟;半物理仿真
中图分类号:TH16；TP242 文献标识码：B
Simulated Research on Synchronization Control of Humanoid Manipulator
YANG Tao1 ,ZOU He-bin1 ,LIU Xiao-yong2 ,CHI Li-guo1
(1. Beijing Institute of Precision Mechanical and Electrical Control Equipment, Beijing 100076, China ； 2. Military Representative Office of The Rocket Force in Long Match Aerospace Controling
1引言
机器人的仿生设计是机器人界一直追求的目标⑴。仿 人手臂型的机器人具有人类胳膊相近的结构配置，可以实现 拟人化的动作，相比工业机器人更适合生活服务作业。目前 仿人手臂机器人在养老助残、空间站科学实验等领域都进行 了相关实验研究。典型的仿人型机械臂釆用人体仿生学设
计算机仿真
仿人机械臂同步控制仿真研究
2019年7月
杨涛1 ,邹河彬】，刘小勇2 ,迟立国I (1.北京精密机电控制设备研究所，北京100076 ；2.火箭军驻长征航天控制工程公司军事代表室，北京100076)
摘要:研究7自由度仿人型机械臂的高精度的多关节同步控制问题。仿人机械臂采用7自由度串联结构，机械臂末端的轨 迹精度依赖7个关节的位置同步精度。机械臂采用基于EtheiCAT的分布式控制架构，每个关节具有独立的伺服驱动器，存
Engineering Company of China Academy of Launch Vehicle Technology, Beijing 100076, China)
ABSTRACT：The problem of high precision multi joint synchronous cຫໍສະໝຸດ Baiduntrol for a 7 degree of freedom humanoid ma nipulator is studied. The humanoid manipulator adopts a series of 7 degrees freedom structure, and the motion preci・ sion of the end of the manipulator depends on the synchronous motion accuracy of the 7 joints. The manipulator adopts a distributed control architecture based on EtherCAT. Each joint has independent servo driver, and there is no syn chronization between joints. It causes the trajectory error of the end of the manipulator In order to achieve humanoid manipulator's high precision synchronous control, manipulator kinematics model was analysed, the characteristics of network control system was combined, and the main error sources of synchronization error located in the joint sampling and servo control were not synchronized. An application method was put forward based on network synchronization er ror computation and the dynamic compensation of joints. In order to verify the control effect, we designed a semi physical simulation system with joints in loop, the simulation experiments in the joint space and Descartes space were carried out. The results show that the synchronization control method for multi joint distribution network based on dis tribute clock can achieve high precision control of humanoid manipulator. KEYWORDS:Manipulator； Synchronous control； Distribute clock； Semi-physical simulation
在各个关节响应不同步的问题,会引起机械臂末端轨迹与理论轨迹存在动态位姿误差 。为了达到仿人机械臂多关节高精度 同步控制的目的，分析了机械臂运动学模型并结合控制系统的网络特点 ，定位主要同步误差来源误差来源于关节采样和伺 服控制不同步，提出了基于网络同步误差实时计算和关节从站时钟动态补偿的网络分布时钟同步控制策略在仿人机械臂控 制中的应用方法。为验证控制效果，设计了关节在环的半物理仿真系统,对机械臂在关节空间和笛卡尔空间进行了仿真分 析，结果表明基于网络分布时钟的多关节同步控制方法能够实现仿人机械臂的高精度控制 。 关键词:机械臂；同步控制;分布时钟;半物理仿真
中图分类号:TH16；TP242 文献标识码：B
Simulated Research on Synchronization Control of Humanoid Manipulator
YANG Tao1 ,ZOU He-bin1 ,LIU Xiao-yong2 ,CHI Li-guo1
(1. Beijing Institute of Precision Mechanical and Electrical Control Equipment, Beijing 100076, China ； 2. Military Representative Office of The Rocket Force in Long Match Aerospace Controling
1引言
机器人的仿生设计是机器人界一直追求的目标⑴。仿 人手臂型的机器人具有人类胳膊相近的结构配置，可以实现 拟人化的动作，相比工业机器人更适合生活服务作业。目前 仿人手臂机器人在养老助残、空间站科学实验等领域都进行 了相关实验研究。典型的仿人型机械臂釆用人体仿生学设