利用分解加速度方法的机器人柔顺控制

Robot Compliant Control with Resoled Acceleration Method

机器人手臂在装配和制造生产上的应用,需要柔顺控制。意思是控制和监视机器人手臂的位置和力。本文提出了在作业空间基于分解运动加速度的稳定的精确的柔顺控制方法,在此系统的研制中使用了机器人手臂的动态模型,这种方法是通过把分解运动加速度方法和Raibert-Craig混合控制方法结合起来而导出的。对此方法的系统稳定性给予了分析,并对各种作业条件进行了仿真研究,结果表明所提出的柔顺控制方案具有满意的性能和较好的实用前景。

The appeication of a robot arm to the assembling and manufacturing process requires compliant control,which means to control and monitor the robot arm's positions and forces.This paper presents a stable,accurate approach for compliant control based on the resolved motion acceleration in the working space.Robot arm dynamic model is used in the development of this control system.This approach is derived by combining the resolved motion acceleration method with the Raibert-Craig hybrid control method.The system stability is analyzed and the simulated study is made for various working conditions.The results show that proposed compliant control has satisfactory performance and good prac- tice prospect.