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设计了双臂协调进行轴孔装配的分级控制器。该控制器由管理级和执行级组成,管理级在进行主臂的期望运动路径规划的同时,根据采样到的主臂信息,对从臂进行期望关节运动角的递推,而执行级只需执行管理级输出的期望值。执行级的控制方式与普通单臂机器人控制方式一样。仿真结果表明所设计的分级控制器能顺利完成双臂的协调轴孔装配作业。
The design of a double-arm coordinated axial shaft assembly grading controller. The controller consists of a management stage and an execution stage. The management stage recursively adjusts the desired articulation angle of the slave arm according to the sampled master arm information while performing the desired motion path planning of the master arm. The execution stage only needs Expected management level output. The execution level control method is the same as the ordinary one-arm robot control mode. Simulation results show that the design of the controller can be successfully completed the coordination of the shaft shaft assembly operations.