空间控制技术与应用2025，Vol.51Issue(1)：85-95,11.DOI:10.3969/j.issn.1674-1579.2025.01.009
面向轴孔装配任务的双臂机器人控制策略
Control Strategy of Dual-Arm Robot for Peg-in-Hole Assembly Tasks
摘要
Abstract
In order to efficiently and safely fulfill the task,this paper proposes a coordinated compliance control strategy for dual-arm robots.Firstly,based on the structural characteristics of the holes and pegs,a task plan that completes the assembly in one attempt is designed to meet the requirements of small tolerances.Implementing the i-dea of dual-arm master-slave coordination,the task plan is decomposed and assigned to two manipulators.Then,with the goal of eliminating pose deviations between the hole part and the peg part,a smooth motion trajectory is planned.In addition,considering the requirement of compliant contact between the hole part and the peg part,an adaptive impedance controller is constructed.In order to avoid control instability caused by the reciprocating oscil-lation of contact forces,an adaptive law for the stiffness coefficient is introduced to the controller.Finally,an ex-perimental platform for the peg-in-hole is built based on the UR10e robotic arm,and the effectiveness of the pro-posed coordination compliance control strategy for dual-arm robots is verified through experiments.关键词
轴孔装配/双臂机器人/任务分解与分配/轨迹规划/柔顺控制Key words
peg-in-hole assembly/dual-arm robots/task decomposition and allocation/trajectory planning/com-pliant control引用本文复制引用
詹博文,郭瑞科,龚宇莲,何英姿,张海博..面向轴孔装配任务的双臂机器人控制策略[J].空间控制技术与应用,2025,51(1):85-95,11.基金项目
国家自然科学基金资助项目(U23B2036)和空间智能控制技术全国重点实验室基金资助项目(2023JCJQLB00610) National Natural Science Foundation of China(U23B2036)and National Key Laboratory Fund of Space Intelligent Con-trol(2023JCJQLB00610) （U23B2036）
