未知混凝土振捣环境下振捣机器人防碰撞控制

振捣机器人的应用是混凝土结构浇筑方式转型升级的关键环节之一,由于振捣过程发生在流动的湿混凝土下,振捣机器人极易与钢筋、模板发生碰撞,成为制约其应用的关键技术瓶颈之一。文章基于移动振捣机器人开展振捣机器人碰撞物识别及防碰撞技术研究。基于六维力传感器以及遗忘因子递归最小二乘(forgetting factor recursive least squares,FFRLS)算法实现对环境刚度和碰撞物类型识别,开发变阻抗控制算法进行振捣机器人主动柔顺控制,并设计机器人避障位姿调整策略。典型碰撞仿真实验的研究结果表明,该文所设计的振捣碰撞物识别和防碰撞柔顺控制策略可以实现对不同碰撞物的精准识别,有效避免振捣机器人与钢筋、模板的硬碰撞,提高振捣施工的安全性。

The application of vibration robots is one of the key links in the transformation and upgrading of concrete structure pouring methods. Due to the vibration process occurring under flowing wet concrete, vibration robots are extremely prone to collisions with steel bars and formworks, becoming one of the critical technical bottlenecks restricting their application. This paper conducts research on collision object recognition and anti-collision technology for mobile vibration robots. Based on a six-axis force sensor and the forgetting factor recursive least squares (FFRLS) algorithm, environmental stiffness and collision object type recognition are achieved. A variable impedance control algorithm is developed for active compliance control of the vibration robot, and an obstacle avoidance posture adjustment strategy is designed. Through typical collision simulation experiments, it is found that the designed vibration collision object recognition and anti-collision compliance control strategy can achieve accurate identification of different collision objects, effectively avoid hard collisions between the vibration robot and steel bars/formworks, and improve the safety of vibration construction.