双悬臂截割机器人相对动力学建模与力位混合控制研究

刘鹏; 周昊晨; 马宏伟; 曹现刚; 张旭辉; 段学超; 毛清华; 田海波; 薛旭升; 王川伟

doi:10.13272/j.issn.1671-251x.2024070104

双悬臂截割机器人相对动力学建模与力位混合控制研究

doi: 10.13272/j.issn.1671-251x.2024070104

刘鹏^{1, 2, 3,},
周昊晨^{1, 2},
马宏伟^{1, 2},
曹现刚^{1, 2},
张旭辉^{1, 2},
段学超³,
毛清华^{1, 2},
田海波^{1, 2},
薛旭升^{1, 2},
王川伟^{1, 2}

1.
西安科技大学机械工程学院，陕西西安　710054
2.
陕西省矿山机电装备智能检测与控制重点实验室，陕西西安　710054
3.
西安电子科技大学电子装备结构设计教育部重点实验室，陕西西安　710000

基金项目: 陕西省教育厅服务地方专项项目（23JC053）；陕西省自然科学基础研究计划面上项目（S2024-JC-YB-2526）。

详细信息

作者简介:
刘鹏（1984—），男，陕西渭南人，讲师，博士，研究方向为机器人技术及应用，E-mail：liupeng@xust.edu.cn

中图分类号: TD632
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- 文章访问数: 41
- HTML全文浏览量: 11
- PDF下载量: 2
- 被引次数: 0
出版历程
- 收稿日期: 2024-07-30
- 修回日期: 2024-10-16
- 网络出版日期: 2024-10-23

Relative dynamics modeling and force-position hybrid control of dual-arm cutting robot

LIU Peng^{1, 2, 3
,},
ZHOU Haochen^{1, 2},
MA Hongwei^{1, 2},
CAO Xiangang^{1, 2},
ZHANG Xuhui^{1, 2},
DUAN Xuechao³,
MAO Qinghua^{1, 2},
TIAN Haibo^{1, 2},
XUE Xusheng^{1, 2},
WANG Chuanwei^{1, 2}

1.
College of Mechanical Engineering, Xi'an University of Science and Technology, Xi'an 710054, China
2.
Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Detection and Control, Xi'an 710054, China
3.
Key Laboratory of Electronic Equipment Structure Design of Ministry of Education, Xidian University,Xi'an 710000, China

摘要

摘要: 双悬臂截割机器人可解决传统单臂掘进机在截割大尺寸断面时效率低下的难题，但其与煤岩的动态交互影响控制性能。现有研究以双臂接触同一对象形成运动闭链为前提，无法满足双悬臂截割机器人双臂运动及末端截割头输出力的控制要求。针对该问题，设计了一种基于机器人相对动力学模型的力位混合控制系统。建立双悬臂截割机器人运动学和动力学模型，基于机器人的相对雅可比矩阵及虚位移与虚功原理推导出机器人的相对动力学模型，通过单一变量同时描述机器人双臂的运动状态，将机器人双臂独立的动力学模型整合为一个整体。基于机器人的相对动力学模型，设计了机器人双臂力位混合控制系统，通过李雅普诺夫函数验证了系统的稳定性和可行性。仿真结果表明：双悬臂截割工艺较单悬臂截割拥有更大的工作空间，具有一次性实现大断面截割的能力；双悬臂截割机器人力位混合控制系统能够完成对期望相对位置和期望相对力的同步跟踪，对截割头期望位置跟踪的绝对误差在0.313 2 m以内，均方根误差为0.144 7 m。
- 巷道掘进 /
- 双悬臂截割机器人 /
- 力位混合控制 /
- 相对动力学 /
- 相对雅可比矩阵
Abstract: The dual-arm cutting robot addresses the low efficiency of traditional single-arm roadheaders when cutting large cross-sections. However, its dynamic interaction with coal-rock affects control performance. In current studies, both arms of the dual-arm cutting robot interact with the same object, forming a closed kinematic chain, which fails to meet the control requirements for independent arm movement and the output force of each cutting head. To solve this issue, a force-position hybrid control system based on the robot’s relative dynamics model was designed. The kinematic and dynamics models of the dual-arm cutting robot were established, with the relative dynamics model derived using the robot’s relative Jacobian matrix and principles of virtual displacement and virtual work. This model used a single variable to describe the motion states of both arms, integrating their independent dynamics models into a unified one. Based on this relative dynamics model, a force-position hybrid control system was developed for the robot’s dual arms, with system stability and feasibility verified via the Lyapunov function. Simulation results indicated that the dual-arm cutting process had a larger workspace compared to single-arm cutting, allowing for efficient large cross-section cutting. The force-position hybrid control system enabled synchronized tracking of expected relative position and force, with the absolute error in tracking the target cutter position kept within 0.3132 m and a root mean square error of 0.1447 m.
- roadway excavation /
- dual-arm cutting robot /
- force-position hybrid control /
- relative dynamics /
- relative Jacobian matrix

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图 1 双悬臂截割机器人模型

Figure 1. Dual-arm cutting robot model

下载: 全尺寸图片幻灯片

图 2 双悬臂截割机器人结构

Figure 2. Dual-arm cutting robot structure

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图 3 基于相对动力学模型的双悬臂截割机器人相对位置控制器

Figure 3. Relative position controller for dual-arm cutting robot based on relative dynamics model

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图 4 基于相对动力学模型的双悬臂截割机器人相对力控制器

Figure 4. Relative force controller for dual-arm cutting robot based on relative dynamics model

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图 5 基于相对动力学模型的双悬臂截割机器人力位混合控制系统

Figure 5. Force-position hybrid control system for dual-arm cutting robot based on relative dynamics model

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图 6 单悬臂与双悬臂截割工艺的工作空间

Figure 6. Workspace for single-arm cutting and dual-arm cutting processes

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图 7 双悬臂截割机器人截割头S形运动轨迹

Figure 7. S-shaped motion trajectories of cutting heads of dual-arm cutting robot

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图 8 双悬臂截割机器人两截割头的期望相对位置

Figure 8. Expected relative position for two cutting heads of dual-arm cutting robot

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图 9 双悬臂截割机器人关节输出力变化

Figure 9. Joint output force variations of dual-arm cutting robot

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图 10 力位混合控制系统对截割头相对位置的控制结果

Figure 10. Relative position tracking results of cutting head by force-position hybrid control system

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图 11 力位混合控制系统对截割头相对力的控制结果

Figure 11. Relative force tracking results of cutting heads by force-position hybrid control system

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图 12 初始相对位置存在误差时力位控制结果

Figure 12. Tracking results of force-position with errors in initial relative position

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表 1 双悬臂截割机器人的D−H参数

Table 1. D-H parameters of dual-arm cutting robot

关节编号	θ_i/rad	d_i/m	a_i/m	α_i/rad
i=1	[0, π/2]	0	a₁	0
i=2	[−π/2,0]	0	1	π/2
i=3	[0, π/2]	0	[4.18，4.73]	0
i=4	[−π/2,0]	0	a₄	0
i=5	[0, π/2]	0	1	π/2
i=6	[0, π/2]	0	[4.18，4.73]	0

下载: 导出CSV

表 2 处于S形轨迹拐点处的双悬臂截割机器人关节变量

Table 2. Joint variables of dual-arm cutting robot at inflection points of S-shaped trajectories

端点序号	移动平台推移量/m	θ₂/rad	θ₃/rad	a₃/m	θ₅/rad	θ₆/rad	a₆/m
1	1.0	0	π/3	4.73	0	π/3	4.73
2	1.1	−π/2	π/3	4.18	π/2	π/3	4.18
3	1.3	−π/2	2π/9	4.18	π/2	2π/9	4.18
4	1.5	0	2π/9	4.73	0	2π/9	4.73
5	1.7	0	π/9	4.18	0	π/9	4.18
6	1.9	−π/2	π/9	4.73	π/2	π/9	4.73
7	2.1	−π/2	0	4.18	π/2	0	4.18
8	2.3	0	0	4.73	0	0	4.73

下载: 导出CSV

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