基于六维力控的智能动作系统设计

Design of Intelligent Action System Based on Six Dimensional Force Control

飞机舱门机构是飞机的主要机构之一,舱门机构功能试验是飞机结构试验验证的重要一环。该文介绍了一种基于六维力/力矩传感器控制的智能动作系统,集成六轴工业机器人、力控传感器等关键部件,用于完成舱门耐久性试验。该套智能动作系统通过机器人的力控模块接口集成六维力/力矩传感器,并在此基础上设计实现了具备拖动示教以及机器人力-位混合控制作业的软件。采用力控及轨迹跟踪记录方法,实现了机器人拖动示教功能。通过对开关门过程中接触力及力矩的期望值跟踪控制,实现了机器人开关舱门柔顺控制及保护功能。通过飞机舱门开合耐久性试验的结果分析表明,该系统可有效缩短点位示教作业周期,提高机器人开关舱门柔顺性和可靠性。

Aircraft door mechanism is one of the main mechanisms of aircraft.The function test of aircraft door mechanism is an important part of aircraft structure test verification.This paper introduces an intelligent action system based on six dimensional force/torque sensor control,which integrates six axis industrial robot,force control sensor and other key components to complete the door durability test.The intelligent action system integrates six-dimensional force/torque sensors through the force control module interface of the robot,and designs and implements the software with drag teaching and machine manpower position hybrid control operation.Using force control and trajectory tracking recording methods,the robot drag teaching function is realized.By tracking and controlling the expected value of contact force and torque in the process of opening and closing the door,the compliance control and protection function of robot opening and closing the cabin door are realized.Through the analysis of the durability test results of aircraft cabin door opening and closing,it is shown that the system can effectively shorten the point teaching operation cycle and improve the flexibility and reliability of robot opening and closing cabin door.