基于摩擦模型的机器人力/位安全控制方法研究

Research on robot force/position safety control method based on friction model

针对机器人力/位控制应用的安全问题,提出一种基于动力学模型的快速实用机器人碰撞检测算法。首先,设计机器人力/位安全控制方案,建立基于动力学的碰撞检测数学模型;然后,基于静态LuGre摩擦模型辨识和补偿机器人关节摩擦力,设计简化的机器人力/位控制碰撞检测模型;最后,以轻型工业机械臂为实验平台,让机器人执行力/位控制与人类发生碰撞以验证算法的有效性。实验结果表明,提出方法可检测机器人各连杆发生4 N·m以上的异常碰撞,能够有效地实现机器人力/位安全控制,具有一定的工程参考价值。

Aiming at the safety problem of robot force/position control application,a fast and practical robot collision detection algorithm based on a dynamic model is proposed.Firstly,design the robot force/position safety control program,establish a dynamics⁃based collision detection mathematical model.Then,based on the static LuGre friction model to identify and compensate the robot joint friction,design a simplified robot force/position control collision detection model.Finally,using a light industrial robotic arm as an experimental platform,the robot executes force/position control to collide with human to verify the algorithm.The experimental results show that the proposed method can detect abnormal collisions of more than 4 N·m between the connecting rods of the robot,and can effectively realize the safety control of the robot force/position,which has a certain engineering reference value.