本文選題：工業(yè)機(jī)器人 + 剛度控制　； 參考：《北京工業(yè)大學(xué)學(xué)報》2017年07期

【摘要】：針對傳統(tǒng)的通過操作示教盒移動六軸工業(yè)機(jī)器人到達(dá)指定位置效率低、過程復(fù)雜的問題,以Ethernet作為通信總線,將嵌入式系統(tǒng)引入六軸工業(yè)機(jī)器人的順應(yīng)性跟蹤控制(零力跟蹤)中,提出了一種基于剛度控制的六軸工業(yè)機(jī)器人零力跟蹤模型.在該模型中,將六維力傳感器上的力信號進(jìn)行解耦與坐標(biāo)變換,從而獲得機(jī)器人末端的6個力的大小信息.通過剛度矩陣計算出輸入位置控制器的偏移量,同時設(shè)計了一種軌跡預(yù)測算法來確定6個力的信息及下一個目標(biāo)點的方向.最后,機(jī)器人根據(jù)運動學(xué)方程的逆解,調(diào)整相應(yīng)的位姿.實驗結(jié)果表明:該機(jī)器人末端分別在3個不同方向的牽引力的作用下,能平滑而快速地經(jīng)過預(yù)定的軌跡,為直接示教系統(tǒng)中的順應(yīng)性跟蹤控制提供了方法.
[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.
【作者單位】： 北京工業(yè)大學(xué)先進(jìn)制造技術(shù)北京市重點實驗室;北京工業(yè)大學(xué)科學(xué)技術(shù)發(fā)展院;
【基金】：國家自然科學(xué)基金資助項目(51575009) 北京市自然科學(xué)基金資助項目(3162003) 北京工業(yè)大學(xué)“智能制造領(lǐng)域大科研推進(jìn)計劃”資助項目 北京市科技計劃重大項目(D17110400590000)
【分類號】：TP242.2

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相關(guān)期刊論文 前10條

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本文編號：1898363