基于分解动量的仿人机器人手臂高速运动实时平衡控制

摘要

To maintain the balance of a humanoid robot with one 7-DOF arm operating at a high speed, this paper proposes a resolved-momentum-based real-time control strategy. Using velocity vector of the end-effecter to express the motion of the robotic arm, we obtain the total momentum formula for the robot. The principles of merit-based controlled momentum selection are discussed, and a real-time optimization method which calculates the joint velocities of the auxiliary arm on the basis of the resolved momentum control is introduced. Simulation results show that the proposed method is highly feasible and has a desired performance for maintaining humanoid robot in balance when its arm is performing the high-speed motion. Not only the controlled dimensions of the resolved momentums fully achieve the expected results, but the rest uncontrolled dimensions of the momentums reduce or maintain their values as well. The generated motion of the auxiliary arm is smooth and has a large joint motion margin. The entire robot also has a good zero-moment point (ZMP) stability.%本文面向仿人机器人7自由度手臂高速动态作业运动需求,提出了基于分解动量的仿人机器人实时平衡控制方法,给出了作业臂运动用末端执行器速度向量表示下的机器人总动量计算公式,分析了动量控制维度的择优选取原则,给出了基于分解动量控制的辅助臂关节速度实时计算优化方法.仿真实验表明,经过改进优化的分解动量控制方法对于仿人机器人手臂高速作业运动下的平衡控制具有较高的可行性和实时性,不仅所控制维度的分解动量完全达到了预期的效果,而且其他维度的分解动量也有所降低或基本维持不变,所生成辅助臂运动平滑且在关节运动性能上有较大裕度,机器人总体具有优秀的零力矩点(zero-moment point,ZMP)稳定性.