基于力反馈的机械手在未知环境下的位置/力混合控制

The Position/Force Hybrid Control of a Robot Manipulator in an Unknown Environment Based on Force Feedback

在分析机械手与目标物体相互作用的基础上,提出了一种基于力反馈的机械手在未知环境下的力/位混合控制策略,实现了机器人末端进行位置/力控制的装配和打磨系统。力反馈设备安装在机器人的末端法兰,以实现工具末端的力控制和位置控制,安装方式实现了物理上的分离解耦。机械手控制器根据力反馈信息通过力/位控制算法对机器人末端执行器位姿进行校正,同时补偿控制执行器与工件的接触力。所述的算法将力、扭矩信息与位置数据相结合,以满足在相关坐标系中指定的位置和力的轨迹约束。结果表明,使用来自力传感器的反馈方法能够稳定、准确地满足各种试验条件下的力和位置轨迹条件。

Based on the analysis to the interaction between the manipulator and the target object,a force/bit hybrid control strategy for the manipulator based on force feedback in the unknown environment is proposed,and a grind the assembly system for the position/force control of the robot end is realized.The force feedback device is installed on the end flange of the robot to realize the force control and position control of the tool end.The installation method realizes physical separation and decoupling.According to the position/force control algorithm,the robot controller adjusts the end tool pose of the robot for correction and compensation control to the contact force between the tool and the work piece.The algorithm combines force and torque information with position data to satisfy the position and force trajectory constraints specified in the relevant coordinate system.The results show that the feedback method from the force sensor can be used to stably and accurately control the force and position trajectory conditions under various test conditions.