机器人对物体轮廓的自律跟踪

On Autonomous Contour Follow-Up with a Robot

基于机器人终端与轮廓间相互作用力的信息,本文提出了一种机器人对未定轮廓跟踪的决策,并在机器人PT-300V上成功地实现了这一决策.文中给出了实验结果.

Based on the information of the interacting force between the robot terminal and the contour, a strategy for autonomous contour follow-up with a robot is presented. By using the desired touching force as a reference, and searching for the force information, a fairly good moving trajectory of the robot can be determined. With a self-designed 3-D force sensor and a robot of type PT-300V, a force control system is constructed and the follow-up strategy has been successfully realized. Experimental results are also given.