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合作机器人的控制策略及实验研究 被引量：1

Control strategy of cobot and experimentation
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摘要 为了实现合作机器人(cobot)与人直接合作,根据其特性,建立了cobot不完全约束关节机构的模型和它的控制模型,提出了cobot的控制策略,并对cobot跟踪直线和圆弧轨迹进行了实验研究.研究结果表明,该控制策略是可行的,能在人机合作的条件下使cobot跟踪期望轨迹,并不会因为机器人的失控而伤害操作者,可满足人机合作的要求.提出的cobot控制策略可以应用于外科手术、物料搬运和零件装配的合作机器人中. In order to implement cobot＇s direct cooperation with human, the model of non-holonomic constraint joint mechanism of cobot and its control model were constructed according to the features of cobot. A control strategy was put forward, and the experimental studies of cobot following a straight line and a section of circle were carried out. The research results illustrate that the control strategy is feasible, and it can make cobot track a desired trajectory in man-machine collaboration situations. It can not make the operator injured when cobot is out of control, and meet the requirements of man-machine cooperation. The control strategy can be applied to cobots of surgery operation, material moving and parts assembly and so on.
作者 董玉红 张立勋 沈锦华
机构地区 哈尔滨工程大学机电工程学院
出处 《高技术通讯》 CAS CSCD 北大核心 2005年第11期30-34,共5页 Chinese High Technology Letters
基金 中国科学院资助项目，黑龙江省哈尔滨市留学回国人员科研启动基金
关键词 合作机器人 不完全约束 控制策略 实验研究 cobot, non-holonomic constraint, control strategy, experimentation
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置] TB18 [一般工业技术]
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参考文献9

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二级参考文献10

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共引文献24

同被引文献7

  • 1王岚,张立勋,赵红菊.基于Fuuzy控制的零重力操作系统[J].自动化技术与应用,2005,24(12):48-50. 被引量：4
  • 2张立勋,董玉红.合作机器人微操作力提升系统的模糊控制研究[J].机械设计与研究,2006,22(6):35-37. 被引量：2
  • 3MOORE C, PESHKIN M, COLGATE E. Design of 3R cobot using continuous variable transmissions[ C ]// IEEE International Conference on Robotics and Automation. Detriot, USA, 1999.
  • 4KOKLEONG T. Intelligent assist device: design and development[ C ]//4th National Conference on Telecommunication Technology Proceeding. Shah Alam, Malaysia, 2003, 198-202.
  • 5BOY E, BURDET E, TEO C, et al. The learning of cobot [ C]// Proceeding of IMECE '02 International Mechanical Engineering Conference and Exposition. New Orleans, 2002 : 17-22.
  • 6SURDILOVIC D, BERNHARDT R, ZHANG L. New intelligent power assist systems based on differential transmission [ J]. Robotica, 2003, 21(03) : 295-302.
  • 7COLGATE J E, PESHKIN M, KLOSTERMEYER S H. Intelligent assist devices in industrial applications: a review [C]// Conference on Intelligent Robots and Systems. Las Vegas, 2003:2516-2521.

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高技术通讯
2005年 第11期

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