GKD-1 RRC机器人控制器与力反馈顺应控制研究

GKD-1 RRC Robot Controller and the Research of Force-feedback Compliance Control

GKD-1 RRC是为开展机器人力反馈顺应控制的研究而设计的新型机器人实时控制器。本文介绍了它的主要性能、特点,并对用它在PUMA 562机械手上完成的几个典型的力/位置混合控制实验及其控制策略、实验结果进行了说明。实验表明,以GKD-1 RRC为核心的机器人力控制系统,控制周期仅为4.88ms,力控制稳态误差平均小于100g,位置控制精度不低于机械手原有水平,证明GKD-1 RRC控制器性能优越。

GKD-1 RRC controller is a new type of real-time robot controller designed for theresearch of the robot force-feedback compliance control. This paper firstly introduces themain performances and features of GKD-1 RRC controller, and then describes severa/forcel position mixed control experiments and its control strategies and results. Theseexperiments are fulfilled on PUMA562 manipulator with GKD-1 RRC. In these experi-ments, the control period is shorten to 4.88ms; average force control static error issmaller than 100g; position control accuracy is not lower than that of PUMA562. Theseresults prove that GKD-1 RRC controller has high performances.