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合作机器人的关键技术及仿真研究 被引量：1

Key Technology of Cobot and Simulation
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摘要 根据合作机器人(Cobot)与人合作的特点,对其不完全约束关节机构和虚拟轨迹控制两项关键技术进行了建模及仿真研究.建立了基于双超越离合器的不完全约束关节机构的模型,对该机构的被动约束特性进行了仿真分析.根据Cobot虚拟轨迹控制的原理,提出了基于操作力的虚拟轨迹控制方法,给出了Cobot跟踪给定轨迹的仿真结果.研究结果表明,不完全约束关节机构具有被动的特性,能够约束Cobot的运动;基于操作力的虚拟轨迹控制方法能使Cobot跟踪期望轨迹,满足人机合作的要求.研究Cobot的关键技术对我国开发机器人产品、改进人机合作技术等均具有重要的实际意义.
作者 董玉红 张立勋 王怀军
机构地区 哈尔滨工程大学机电学院
出处 《系统仿真学报》 CAS CSCD 北大核心 2005年第z2期91-94,共4页 Journal of System Simulation
关键词 合作机器人 关键技术 不完全约束 虚拟轨迹控制
分类号 TP391.9 [自动化与计算机技术—计算机应用技术]
  • 相关文献

参考文献9

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  • 2[2]Boy E,Burdet E,Teo C,Colgate E.The learning of cobot.Proceeding of IMECE'02 International Mechanical Engineering Conference and Exposition[C],New Orleans,2002:17-22.
  • 3[3]Surdilovic D,Bernhardt R,Zhang L.New intelligent power-assist systems based on differential transmission[J].Robotica,2003,21(3):295-302.
  • 4[4]Schneider O,Troccaz J,Chavanon O,Blin D.PADYC:A synergistic robot for cardiac puncturing[C].Proceedings of the 2000 IEEE International Conference on Robotics and Automation,San Francisco,2000,2883-2888.
  • 5[5]Surdilovic D,Ernhardt R,Zhang L.A novel class of intelligent power-assist systems based on differential CVT[C].Proceeding of the 2002 IEEE International Conference Workshop on Robot & Human Interactive Communication,Berlin,2002:25-27.
  • 6张立勋,路敦民,王岚,沈锦华,R.Bernhardt.基于差动机构的五连杆式人机合作机器人的动力学分析[J].机器人,2004,26(2):123-126. 被引量：21
  • 7[7]Lu Dunmin,Zhang Lixun,Wang Lan,et al.Architecture and Trajectory Constraint Control of a Five-bar Cobot[C].Proceeding of the Fifth World Congress on Intelligent Control and Automation,Hangzhou,2004:4960-4963.
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二级参考文献10

  • 1[1]Surdilovic D, Bernhardt R, Zhang L. A novel class of intelligent power-assist systems based on differential CVT[A]. Proceedings of the 2002 IEEE International Conference Workshop on Robot & Human Interactive Communication[C].Berlin, Germany: 2002.25-27.
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  • 3[3]Boy E S, Burdet E, Teo C L, et al. The learning COBOT[A]. Proceeding of IMECE02 International Mechanical Engineering Conference and Exposition[C]. New Orleans: 2002.17-22.
  • 4[4]Schnieider O, Troccaz J. PADyC: a synergistic robot for cardic puncturing[A].Proceedings of the 2000 IEEE International Conference on Robotics & Automation[C]. San Francisco, CA: 2000.2883-2888.
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  • 6MOORE C, PESHKIN M, COLGATE E. Design of 3R cobot using continuous variable transmissions [A]. IEEE international conference on robotics and automation[C]. Detriot Michigan, USA,1999.
  • 7COLGATE E, WANNASUPHOPRASIT W, PESHKIN M. Cobot: Robots for collaborative with human operators[A]. Proceedings of the IEEE 1996 international conference on robotics and automation [C]. Philadelphia, 1996.
  • 8SCHNRIDER O, TROCCAZ J, CHAVANON O, BLIN D. PADyC: A synergistic robot for cardiac puncturing [A]. Proceedings of the 2000 IEEE international conference on robotics and automation [C]. San Francisco, 2000.
  • 9SURDILOVIC D, BERNHARDT R, ZHANG L. A novel class of intelligent power-assist systems based on differential CVT [A]. Proceeding of the 2002 IEEE international conference workshop on robot & human interactive communication [C]. Berlin, 2002.
  • 10BOY E, BURDET E, TEO C, COLGATE E. The learning of cobot [A]. Proceeding of IMECE02 international mechanical engineering conference and exposition[C]. New Orleans, 2002.

共引文献24

同被引文献7

  • 1LU Dun-rain, ZHANG Li-xun, WANG Lan, et al. Architecture and Trajectory Constraint Control of a Five Bar Cobot [C]//FitCh World Congress on Intelligent Control and Automation. Hangzhou, China. USA: IEEE, 2004: 4960-4963.
  • 2Eng Seng Boy, Etienne Burdet, Chee Leong Teo, et al. Investigation of Motion Guidance With Scooter Cobot and Collaborative Learning. [J]. IEEE Transactions on Robotics and Automation (S1042-296X), 2007, 23(2): 245-255.
  • 3Carl A Moore, Michael A Peshkin, J Edward Colgate. Cobot Imple- mentation of 3D Virtual Surfaces [C]// Proceedings of the 2002 IEEE International Conference on Robotics & Automation. Washington, DC. USA: IEEE, 2002: 3242-3247.
  • 4Michael Peshkin, J Edward Colgate, Witaya Wannasuphoprasit, Carl Moore, Brent Gillespie. Cobot architecture [J]. IEEE Transactions on Robotics and Automation (S 1042-296X), 2001, 17(4): 377-390.
  • 5Schneider, J Troccaz, O Chavanon, et al. PADyC: a ynergistic robot for cardiac puncturing [C]// IEEE International Conference on Ro- botics and Autorilation. ICRA2000, San Francisco, CA, USA. USA: IEEE, 2000: 2883-2888.
  • 6SURDILOVIC D, BERNHARDT R, Zhang L. New intelligent power-assist systems based on differential transmission [J]. Robotica (S0263-5747), 2003, 21 (3): 259-302.
  • 7张立勋,路敦民,王岚,沈锦华,R.Bernhardt.基于差动机构的五连杆式人机合作机器人的动力学分析[J].机器人,2004,26(2):123-126. 被引量：21

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系统仿真学报
2005年 第z2期

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