工业机器人末端执行器的柔顺示教研究

发布时间：2018-01-04 11:11

本文关键词：工业机器人末端执行器的柔顺示教研究　出处：《机械设计与制造》2017年12期 　论文类型：期刊论文

【摘要】：随着工业机器人应用越来越广泛,工业机器人被要求具有更高柔顺性的示教功能。提出一种柔顺示教的控制方法,以常用的20公斤级的工业机器人为研究对象,通过六维力传感器采集力信息,经过柔顺控制算法和基于位置的力位控制算法结合控制机器人,实现柔顺示教功能。先介绍了柔顺示教的硬件平台结构和软件结构,建立一个柔顺示教控制的模型,并利用该模型设计一个柔顺示教的控制算法,最后将笔作为机器人末端执行器并在白纸上画图案以验证示教的柔顺性。实验结果表明通过该柔顺示教控制,操作者可以对机器人末端执行器自由拖动,实现柔顺示教的功能。
[Abstract]:With the more and more extensive application of industrial robots, industrial robots are required to have higher compliance teaching function. A control method of compliance teaching is proposed. Taking the commonly used 20kg industrial robot as the research object, the force information is collected by the six-axis force sensor, and the robot is controlled by the compliance control algorithm and the position-based force position control algorithm. Firstly, the hardware platform structure and software structure of compliance teaching are introduced, a model of compliance teaching control is established, and a control algorithm of compliance teaching is designed by using this model. Finally, the pen is used as the robot end actuator and the pattern is drawn on the white paper to verify the compliance of the demonstration. The experimental results show that the operator can drag the robot end actuator freely through the compliance teaching control. The function of compliance teaching is realized.
【作者单位】：广东工业大学机电工程学院;
【基金】：国家高技术研究发展计划(863计划)(2013AA041001) 广东省省级科技计划项目(2015B010919001)
【分类号】：TP242.2
【正文快照】： 1引言要为机器人示教成千上万的示教点,这不仅增加工程师的负担而工业机器人作业前必须给工业机器人指定工作内容,即示且会影响效率。为了改进示教盒示教效率低的缺点,国内外提出教编程了一些有效的改进方法。文献[4]。工业机器人的示教编程主要分成两大类,如图1所示。分提出

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