摘要
针对工业机器人控制器智能化的要求,在现有工业机器人控制器实时多任务系统软件的基础上,设计并实现了工业机器人控制器力控任务模块。首先介绍了力控任务模块的总体架构设计;然后分析并解决了力信息采集过程中的坐标变换和重力补偿问题,研究并实现了基于位置的阻抗控制算法;最后通过对系统内各任务关系的分析给出了力控任务模块中的任务优先级分配,并详细阐述了力控模式下控制器系统内实时任务的调度关系。
Aiming at the intelligent requirement of industrial robot controller,the force control task module of industrial robot controller is designed and implemented based on the existing real-time multi-task system software of industrial robot controller.Firstly,the overall architecture design of force control task module is introduced.Then,the coordinate transformation and gravity compensation in the process of force information acquisition are analyzed and solved,and the position-based impedance control algorithm is studied and implemented.Finally,the priority assignment of tasks in the force control task module is given by analyzing the relationship among tasks in the system,and the scheduling relationship of real-time tasks in the controller system under the force control mode is elaborated in detail.
引文
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