机器人力觉示教的力控制及仿真分析
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摘要
针对机器人传统示教方式逐渐无法满足复杂工业生产需求的现状,提出了一种基于六维力传感器的机器人力觉示教,并介绍了其系统组成。结合一些经典力控制方法及力觉示教实际,对机器人力觉示教的力控制系统展开研究,提出了基于速度的主动柔顺控制策略,从理论上建立了机器人力觉示教时末端工具受力和力矩的运动控制算法。通过Adams仿真软件,对机器人的力觉示教运动进行了仿真分析,最终结果表明该控制算法能够有效地实现机器人力觉示教控制,使力觉示教更加主动灵活,更好地满足复杂工业生产的工艺要求。
Aiming at the present situation that traditional teaching of robot gradually cannot meet the demand of complex industrial production,a force teaching of robot based on six-axis force sensor is proposed and its system composition is introduced in this paper. Combined with some classic force control method and the actual force teaching,the force control system of robot force teaching is researched. The active compliance control strategy based on speed is proposed,the motion control algorithm of the ending tool under the action of force or torque when robot force teaching is established in theory. By Adams simulation software,the movement of force teaching of robot has carried on the simulation analysis,the final results show that the control algorithm can effectively realize the control of force teaching of robot,make force teaching more active flexible,and meet the technological requirements of complex industrial production better.
Aiming at the present situation that traditional teaching of robot gradually cannot meet the demand of complex industrial production,a force teaching of robot based on six-axis force sensor is proposed and its system composition is introduced in this paper. Combined with some classic force control method and the actual force teaching,the force control system of robot force teaching is researched. The active compliance control strategy based on speed is proposed,the motion control algorithm of the ending tool under the action of force or torque when robot force teaching is established in theory. By Adams simulation software,the movement of force teaching of robot has carried on the simulation analysis,the final results show that the control algorithm can effectively realize the control of force teaching of robot,make force teaching more active flexible,and meet the technological requirements of complex industrial production better.
引文
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[2]黎意枫.免力矩传感器的机器人直接示教技术研究[D].哈尔滨:哈尔滨工业大学,2015.(Li Yi-feng.Torque sensor is direct teaching technology of robot-free[D].Harbin:Harbin Institute of Technology,2015.)
[3]Kushida D,Nakamuta M,Goto S.Human direct teaching of industrial articulated robot arms based on forceless control[J].Artificial Life and Robotics,2001,5(1):26-32.
[4]龚理.喷釉机械手示教系统的设计研究[D].长沙:中南大学,2013.(Gong Li.Glazing robot teaching system design[D].Changsha:Central So uth University,2013.)
[5]魏娟.多自由度机械臂轨迹跟踪控制仿真研究[D].湘潭:湘潭大学,2010.(Wei Juan.Study on multi-DOF manipulator trajectory tracking control[D].Xiangtan:Xiangtan University,2010.)
[6]杨林,赵吉宾,李论.有机玻璃研磨抛光机器人力控制研究[J].机械设计与制造,2015(4):105-107.(Yang Lin,Zhao Ji-bin,Li Lun.Plexiglass polishing robot force control[J].Mechanical Design and Manufacturing,2015(4):105-107.)
[7]李二超.未确知环境下机器人力控制技术研究[D].兰州:兰州理工大学,2011.(Li Er-chao.Robot force control technology under uncertain environment[D].Lanzhou:Lanzhou University of Technology,2011.)
[8]蓝培钦,言勇华.码垛机器人的动力学仿真及控制研究[J].机械设计与制造,2010(7):149-151.(Lan Pei-qin,Yan Yong-hua.Palletizing robot dynamics and control[J].Mechanical Design and Manufacturing,2010(7):149-151.)
[9]李基甫.仿人机器人控制系统的设计与实现[D].广州:广东工业大学,2012.(Li Ji-fu.Design and implementation of control system for humanoid robot[D].Guangzhou:Guangdong University of Technology,2012.)
[10]高世一,赵明扬,张雷.基于视觉的焊接机器人曲线焊缝跟踪研究[J].仪器仪表学报,2007,28(4):774-776.(Gao Shi-yi,Zhao Ming-yang,Zhang Lei.Study on curve of welding robot welding seam tracking based on vision[J].Chinese Journal of Scientific Instrument,2007,28(4):774-776.)