机器人结构动力学对其力控制系统的影响

INFLUENCE OF ROBOT MECHANISM DYNAMICS ON FORCE CONTROL SYSTEM

本文利用 Lagrnge 动力学方程对两种机器人力控制系统进行了分析与比较,即(Ⅰ)机器人-力传感器-工件,在此系统中,由力传感器测得的力信号直接反馈给机器人,机器人根据此信号调整其末端机构的最终位置;(Ⅱ)MACRO/MICRO-力传感器-工件,此系统先由 MACRO 完成粗运动,然后 MICRO 根据反馈的力信号进行精微调整,实现末端机构的最终定位.分析表明,系统Ⅱ比系统Ⅰ更稳定.

Two robot force control systems were analysed with the Lagrange dynamic equations.In system Ⅰ,whichwas comprised of MANIPULATOR-FORCE SENSOR-WOPIECE,the force signals measured by the forcesensor was given to the manipulator controller to drive the end-effector of the manipulator to the final posi-tion.In system Ⅱ,which was comprised of MACRO/MICRO-FORCE SENSOR-WORKPIECE,a gross mo-tion was implemented by the MACRO.Then the MICRO regulated the end-effector of the manipulator toreach the final position according to the force feedback signals.It is shown that system Ⅱ was more stablethan system Ⅰ.