机器人力/位并环混合运动学分析研究

STUDY ON HYBRID KINEMATIC ANALYSES OF FORCE AND POSITION PARALLEL LOOP FOR ROBOT

提出用大系统理论进行复杂的机器人力控制研究，介绍了与之相应的智能力／位并环控制新策略，针对力控制中未知环境约束运动的特点，详述了力控制大系统智能新策略中核心：根据腕力传感器输出的三维力，考虑摩擦力的影响，推导了动态求解机器人终端与环境接触点的法向——力控方向和切向——位控方向的公式，从而建立了基于力反馈的运动学模型，有效解决了长期遗留的未知环境约束运动中的难题。

A novel intelligent strategy of force control for robot based on the theory of Large Scale System is presented for the first time. A hybrid kinematic model of force and position parallel loop, one of the key problems about the large scale system for robot′s force control, is given in detail. In the task coordinate, the axes for position control and the axes for force control are orthogonal. The equation, by which dynamic tangent to an unknown surface during motion is determined under the consideration of friction, has precisely been derived from forces and torque of wrist force/ torque sensor. By means of it, some experimental researches about tracking bulb have been implemented in an AdeptThree robot manipulator. The results have proved that hybrid kinematic analyses of force and position parallel loop are effective and feasible.