基于分解动量的仿人机器人手臂高速运动实时平衡控制-控制理论与应用.pdf

30 3 Vol. 30 No. 3 2013 3 Control Theory Applications Mar. 2013 DOI: 10.7641/CTA.2013.10684 , , , (, 310027) : 7 , . , , . , , , , , (zero-moment point, ZMP). : ; ; : TP273 : A Resolved-momentum-based real-time balance control for high-speed arm manipulation of humanoid robot ZHANG Da-song, XIONG Rong , WU Jun, CHU Jian (National Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou Zhejiang 310027, China) Abstract: 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. Key words: momentum control; balance control; real-ti