| For previous studies with slower interaction speeds,including tasks such as medical assistance and cooperative handling,objects can be regarded as a force balance state,so this type of research generally focuses on force following,while previous studies with faster interaction speeds mainly use high-speed The camera does posture tracking of objects,which is generally human-computer interaction without contact.There are relatively few previous studies on faster direct force interaction.This topic explores the role of stiffness control strategy in fast human-machine collaborative grasping tasks,builds models according to the characteristics of grasping tasks,then simplifies the model and selected parameters,and then proposes appropriate stiffness control strategies based on the model.Finally,Complete simulation experiment and prototype experiment.When a man grabs a falling block with both arms,the left and right arm will adjust the stiffness appropriately according to the stability of the block.Inspired by the action of human hands and arms to grab the falling objects,we set the collaborative task to be that the robot arm and the human hand and the single arm cooperate to grab the falling objects in the middle,simplifying the robot arm and the human hand to two degrees of freedom Model,build a simulink simulation system.In order to define a faster concept,the speed of the block before being grabbed is set to-1m/s,and then a control strategy for controlling the stiffness of the robotic arm according to the rotation angle of the block is proposed.Finally,simulation analysis and physical verification of the control strategy are carried out.In the simulation,for the block with a speed of-1m/s before grabbing,the maximum grabbing weight that meets the static friction condition is 1.1kg.The stiffness control strategy effectively improves the grabbing stability of the block.The prototype experiment also verifies the stiffness.The effectiveness of the control strategy. |
PDF Full Text Request