摘要
在考虑摩擦力的情况下，利用传感器所感知的机器人和未知轮廓间的相互作用力确定接触点处轮廓的切矢和法矢，据此建立端点约束坐标系，在该坐标系中沿切矢进行位置控制并沿法矢进行力控制。实现机器人对未知轮廓的自律跟踪运动，由跟踪运动所确定的每一点处切矢信息及该点位置信息构造未知轮廓几何模型．在机器人学开放研究实验室的ＰＵＭＡ５６２机器人上实现了上述自律运动并建立了环境模型．
he normal and tangential directions of the unknown environment at the contact point with the robot are determined by the contact forces acquired from a force sensor mounted on the distal link of the robot under consideration of friction. A constraint coordinate system at the tip of the robot is established by using these two directions. Position control is performed along the tangential direction and force control is ex-ecuted along the normal direction in this coordinate system,then automatic unknown contour following pro-cedure can be implemented.The unknown contour is modeled gemetrically using the tangent and position in-formation obtained at each contact point during the tracking motion. Finally,the traeking strategy has been implemented on a PUMA 562 robot successfully,the geometric model of the unknown environment is given.
出处
《机器人》
EI
CSCD
北大核心
1995年第1期7-12,共6页
Robot
