基于刚度控制的六轴工业机器人零力跟踪模型

发布时间：2018-05-16 20:55

本文选题：工业机器人 + 刚度控制　；参考：《北京工业大学学报》2017年07期

【摘要】：针对传统的通过操作示教盒移动六轴工业机器人到达指定位置效率低、过程复杂的问题,以Ethernet作为通信总线,将嵌入式系统引入六轴工业机器人的顺应性跟踪控制(零力跟踪)中,提出了一种基于刚度控制的六轴工业机器人零力跟踪模型.在该模型中,将六维力传感器上的力信号进行解耦与坐标变换,从而获得机器人末端的6个力的大小信息.通过刚度矩阵计算出输入位置控制器的偏移量,同时设计了一种轨迹预测算法来确定6个力的信息及下一个目标点的方向.最后,机器人根据运动学方程的逆解,调整相应的位姿.实验结果表明:该机器人末端分别在3个不同方向的牵引力的作用下,能平滑而快速地经过预定的轨迹,为直接示教系统中的顺应性跟踪控制提供了方法.
[Abstract]:In order to solve the problem that the traditional six-axis industrial robot moves through the instruction box to reach the designated position with low efficiency and complex process, Ethernet is used as the communication bus. The embedded system is introduced into the compliance tracking control (zero force tracking) of six-axis industrial robot, and a zero-force tracking model of six-axis industrial robot based on stiffness control is proposed. In this model, the force signal on the six-axis force sensor is decoupled and the coordinate is transformed to obtain the size information of the six forces at the end of the robot. The offset of the input position controller is calculated by the stiffness matrix, and a trajectory prediction algorithm is designed to determine the information of the six forces and the direction of the next target point. Finally, the robot adjusts the position and pose according to the inverse solution of kinematics equation. The experimental results show that the end of the robot can smoothly and quickly pass through the predetermined trajectory under the action of three different directions of tractive force, which provides a method for compliance tracking control in direct teaching system.
【作者单位】：北京工业大学先进制造技术北京市重点实验室;北京工业大学科学技术发展院;
【基金】：国家自然科学基金资助项目(51575009) 北京市自然科学基金资助项目(3162003) 北京工业大学“智能制造领域大科研推进计划”资助项目北京市科技计划重大项目(D17110400590000)
【分类号】：TP242.2

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