机器人手臂力控制系统GRAFC

A ROBOT ARM FORCE CONTROL SYSTEM'GRAFC'

本文介绍了一机器人手臂力控制系统及在其上实现的部分力控制作业.此系统以 PUMA 760机器人为本体,以 NKRC-4机器人控制器为基础,采用两级控制结构:上层负责规划、监控,完成力传感信息、视觉信息的采集和处理,接收来自底层的位置反馈信息,并根据一定的控制算法产生控制命令下送给底层;底层完成伺服控制.该系统具有通用性和较强的可靠性。适于各种控制方案和算法的实现.在此系统上我们成功地进行了定力控制、未知表面的跟踪与恢复、精密轴孔装配等作业,验证了系统的性能.

A robot force control system consisting of vision and force/torque sensors is constructed.The system iscomposed of two levels:the upper level and the lower level.The upper level is responsible for task planningand supervising as well as force control.It uses vision information for the planning of gross motion,and forcesensory data and position data feedback by lower level for the control of fine motion.The lower level,a servosystem developed in our laboratory,is in charge of the servoing of joints.On this system,some contact tasksrequiring of force control have been implemented.