基于力觉信息的工业机器人力跟随研究

Force follow-up of industrial robots based on force sensing

随着机器人智能化要求的不断提高,需要工业机器人作业可同时满足机器人末端接触力和位置期望跟踪控制,以期具有更好的顺应外部环境的能力,提高作业效率和质量。为此,文中搭建了基于力传感信息的工业机器人力/位控制试验平台,通过在机器人末端安装六维力传感器,并在不同位姿建立机器人重力补偿系统,提出了基于力传感信息的力/位控制算法,完成了基于力传感器机器人末端的力跟随试验。通过试验证明了机器人能够根据力传感器反馈的信息实时地对末端位姿进行调整,实现了顺从外力的功能,同时验证了以此进行的力跟随控制算法的正确性和合理性。

With the increasing demand for intelligence,the operation tasks of industrial robots should be simultaneously ensure the tracking control of both the contact force and the position at the robot end-effector,and thus industrial robots will have the ability to better adapt to the external environment for the purpose of higher working efficiency and quality.In this article,the experimental platform of force/position control of industrial robots is set up based on force sensing.A six-dimensional force sensor is mounted at the robot end-effector,and the gravity-compensation system is built with different positions and postures.Thus,the force/position algorithm is worked out by means of force sensing,and the force follow-up experiment is carried out at the robot end-effector.This experiment proves that the robot can adjust the position and postures according to the real-time information provided by the force sensor,which has realized the function of the follow-up external force and verified that the force follow-up control algorithm is correct and rational.