基于被动力控制的协作式柔性负载操作中的振动抑制
Vibration Suppression in Collaborative Flexible Payload Manipulation Using Passive Force Control
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中文总结 AI 辅助
本文针对大型重型结构操作中的振动问题，提出基于主从异构工业机械臂协作的被动力控制策略，通过导纳控制器与等效质量-弹簧-阻尼模型实现振动抑制，经模拟与实验验证了方法的有效性。
中文摘要 AI 辅助
在大型重型结构运动过程中会产生振动，这对精准操作构成重大挑战，控制算法必须有效抑制此类结构振动。在未来聚变能反应堆（托卡马克）远程维护等前沿项目中，这类结构的操作是关键任务。本文提出一种控制策略，用于在运动过程中通过协作式负载操作方法抑制柔性负载的横向振动。采用两个不同的工业机械臂组成主从配置作为操作策略，主机械臂通过整形速度指令引导运动，从机械臂则通过导纳控制器确保顺应主机械臂施加在负载上的估算外力。与现有方法不同，该方法可实现更重、更大柔性物体的协作操作，解决振动抑制及异构机器人规格等额外挑战。主从负载系统的动力学采用等效质量-弹簧-阻尼模型建模，结果表明，通过合适的导纳参数，系统总能量可被被动耗散，同时提供了稳定性证明。数值模拟验证了该方法，实验结果也证明了其有效性。
英文摘要
In large and heavy structures, vibrations arise during motion, posing significant challenges for precise manipulation. To accomplish the desired motion, control algorithms must effectively suppress these structural vibrations. In cutting edge projects, such as remote maintenance of future fusion energy reactors (tokamaks), the manipulation of this type of structure is defined as a crucial task. This paper presents a control strategy to suppress transverse vibrations in flexible payloads during motion using a collaborative payload manipulation approach. Two different industrial robot arms are arranged in a leader follower configuration for the manipulation strategy. The leader robot guides the motion with shaped velocity commands, while the follower robot ensures compliance with the estimated external forces applied by the leader on the payload through an admittance controller. Unlike existing methods, the proposed approach enables collaborative manipulation of heavier and larger flexible objects, addressing additional challenges such as vibration suppression and heterogeneous robot specifications. The dynamics of the leader follower payload system are modeled using an equivalent mass spring damper model, and it is shown that, with appropriate admittance parameters, the total energy of the system is passively dissipated. A stability proof is also provided. Numerical simulations validate the proposed method, and experimental results demonstrate its effectiveness.
发表机构
- VTT Technical Research Centre of Finland Ltd（芬兰VTT技术研究中心）
- RP Technical University of Kaiserslautern（凯泽斯劳滕RP工业大学）
- UK Atomic Energy Authority（英国原子能管理局）
- University of Oulu（奥卢大学）
机构由 AI 辅助整理，请以论文原文为准。
