基于映射算法面向电热微夹持器的遥操系统设计与控制策略研究
Teleoperation System Design and Control Strategy Research for Electrothermal Microgripper Based on Mapping Algorithm
DOI: 10.12677/MOS.2024.131002, PDF,  被引量   
作者: 张寒莉, 佀国宁：上海理工大学健康科学与工程学院，上海
关键词: 遥操作；外骨骼手；PID控制；Simulink仿真；Teleoperation； Exoskeleton Hand； PID Control； Simulink Simulation
摘要: 为了提高微操作系统适应复杂操作任务的能力，本文以多自由度多指电热驱动微夹持器为研究对象，开发了应用于宏微操作的遥操作系统。首先，基于人体仿生结构，设计了4自由度可穿戴外骨骼手作为主端操作手，实现了对从端多自由度电热驱动微夹持器的遥操作；其次，通过改进的DH (De-navit-Hartenberg)法建立外骨骼手的运动学模型，基于MATLAB的机器人工具箱进行工作空间仿真，并应用笛卡尔空间映射算法解决主从操作手工作空间不匹配的问题，实现外骨骼手从宏观毫米精度到微观微米精度的映射；最后，通过MATLAB系统辨识工具箱建立了电热驱动器的仿真模型，使用超前调节方法优化被控模型，并采用PID算法实现了系统的位置闭环控制，仿真结果显示，采用该控制方法使得微夹持器的响应速度有效提高了约3倍，并具有更小的超调量和稳态误差，能够满足微操作的应用需求。
Abstract: In order to improve the ability of the micromanipulation system to adapt to complex operation tasks, this paper develops a teleoperating system for macro and microoperation based on a mul-ti-degree-of-freedom multi-finger electrothermal microgripper. Firstly, based on the human bionic structure, a 4-DOF wearable exoskeleton hand is designed as the master operator to realize the tel-eoperation of the multi-DOF electrothermal microgripper. Secondly, the kinematics model of the exoskeleton hand is established by the improved DH (Denavit-Hartenberg) method. Based on the MATLAB robot toolbox, workspace simulation is conducted, and the Cartesian space mapping algo-rithm is applied to solve the problem of mismatched workspace between the master and slave op-erators, achieving the mapping of the exoskeleton hand from macroscopic millimeter precision to microscopic micrometer precision. Finally, the simulation model of the electric heating driver is es-tablished through the MATLAB system identification toolbox, and the controlled model is optimized by using the advanced adjustment method, besides, the position closed-loop control of the system is realized by using PID. The simulation results show that the response speed of the microgripper is effectively increased by about 3 times with smaller overshoot and steady-state error by using this control method. It can meet the application requirements of microoperation.
文章引用：张寒莉, 佀国宁. 基于映射算法面向电热微夹持器的遥操系统设计与控制策略研究[J]. 建模与仿真, 2024, 13(1): 12-23. https://doi.org/10.12677/MOS.2024.131002

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