协作机器人的力/位混合控制系统设计

Design of Force Position Mixing System of Collaborative Robots

协作机器人完成装配、焊接等精度要求较高的工作时,其末端执行器必须能够同时控制末端的位置以及接触力,避免接触力对机器人和环境造成损坏。主要基于xMate3柔顺协作机器人(7轴机械臂),在机械臂的末端执行器建立适当的坐标系,然后将控制问题分解成两个独立的解耦子问题——力控制问题和位置控制问题,从而实现力位混合控制。

When a collaborative robot performs work with high precision requirements such as assembly and welding,its end actuator must be able to control both the position of the end and the contact force,so as to avoid damage to the robot and the environment by contact force. Based on x Mate3 flexible collaborative robot(7-axis robot arm),the appropriate coordinate system is established at the end actuator of the robot arm.The control problem is then broken down into two independent decoupling sub-problems-force control problem and position control problem,so as to realize force position mixing control.