Research On Compliance Control Method Of Coorperative Operation Of Hyper-redundant Manipulator

Traditional non-redundant manipulators have been widely used in industrial production,catering services,medical health and other fields due to their simple control structure and simple motion planning method.However,its limited flexibility makes it only suitable for repetitive and simple tasks.Redundant manipulators have been widely studied by scholars at home and abroad due to their strong flexibility,strong obstacle avoidance ability,and good operational performance.However,in practical applications,due to the limitations of a single robotic arm,many tasks are difficult to complete independently.Compared with the work of a single manipulator,the coordinated operation of man-manipulator and dual manipulators has a larger working space and stronger working ability.There is an increasing demand for coordinated operation and mutual cooperation of manipulators to complete certain tasks.At the same time,many advantages have brought higher requirements for control methods.This paper takes the nine-degree-of-freedom super-redundant manipulator as the research object,and carries out the research work on its coordinated operation compliance control method.The main research work of this paper is as follows:First,establish the kinematics and dynamics model of the hyper-redundant manipulator.The D-H parameter method is used to model and analyze the kinematics,and the coordinate transformation matrix is derived;the gradient projection method is used to solve the inverse kinematics solution of the manipulator.Using Newton-Euler equations and the iterative relationship of the speed of the connecting rod to establish a dynamic model of the manipulator.Secondly,design the position coordination operation control method and complete the simulation.For coordinated operation tasks that only require position coordination,based on the dynamic model of the hyper-redundant manipulator,the calculation torque method position coordinated trajectory tracking control method is deduced and the simulation is completed with Matlab/Simulink to realize the position coordination of the hyper-redundant manipulator.Track tracking control.Third,design the force/position coordinated operation control method and complete the simulation.For the coordinated operation tasks that require both force and position,the force/position coordinated impedance control method based on offline parameter adjustment and the force/position coordinated impedance control method based on the online particle swarm algorithm optimization parameter are designed respectively,and Matlab/Simulink is used for the two Way to simulate.The former uses the adjustment of impedance parameters to find the influence of changes in impedance parameters on the effect of the force/position coordination operation task.The latter uses particle swarm algorithm online optimization to obtain the optimal impedance control parameter set,so that the system can achieve higher control accuracy and complete the simulation.Finally,according to the research content of the subject,a coordinated operation physics experiment was designed and carried out,and a coordinated operation experimental platform was built to verify the simulation results.The six-dimensional force sensor was used to collect and analyze the end contact force data of the robotic arm during the experiment,which verified the effectiveness of the proposed compliance control method.