自动装配减速机中机械臂的笛卡尔阻抗控制

针对谐波减速机的装配严重依赖人工装配技能,整机故障率高等问题,文章研究了一种基于笛卡尔阻抗控制的机械臂系统来代替人工,实现谐波减速机的自动装配,以提高减速机工件的装配速度与精度,减少人为因素影响。首先,将装配组件抽象为peg-in-hole模型,然后阐述了机械臂笛卡尔空间下的阻抗控制算法,并根据模型建立机械臂的笛卡尔空间阻抗控制系统,最后通过实验验证了该方法的有效性,使装配更加柔顺,具有一定的实际应用价值。

基于指尖力传感器的HIT机器人灵巧手笛卡尔阻抗控制

介绍了基于5维指尖力/力矩传感器的HIT机器人灵巧手的笛卡尔阻抗控制.当手指与障碍物接触时,呈现出2阶机械阻抗特性.在阻抗控制算法中,不需直接计算加速度,从而避免了因大加速度误差给控制带来的不利因素.结合期望轨迹和实际位置及速度,产生一个参考轨迹,手指跟踪此参考轨迹即可自动获得期望阻抗特性.

冗余空间机械臂的运动学和笛卡尔阻抗控制方法

为了能让七自由度空间机械臂在空间站外壁换位行走,需要在对接的过程中能够自动控制机械臂接触力以确保其在安全的范围之内。介绍了七自由度空间机械臂的运动学计算方法,采用二次计算法求得其逆运动学解。提出了基于安装在空间机械臂末端六维力传感器反馈的笛卡尔空间阻抗控制方法,将逆运动学解转化到关节空间的位置内环进行位置控制,经Simulink仿真优化参数后在空间机械臂上进行了调试实验,结果表明,力的控制效果柔顺。

Joint torque-based Cartesian impedance control with friction compensations

In order to investigate the joint torque-based Cartesian impedance control strategies and the influence of compensations for friction, an experimental study on the identification of friction parameters, friction compensation and the Cartesian impedance control are developed for the harmonic drive robot, by using the sensors available in the joint itself. Different from the conventional Cartesian impedance control schemes which are mostly based on the robot end force/torque information, five joint torque-based Cartesian impedance control schemes are considered, including the force-based schemes in Cartesian/joint space, the position-based schemes in Cartesian/joint space and the stiffness control. Four of them are verified by corresponding experiments with/without friction compensations. By comparison, it is found that the force-based impedance control strategy is more suitable than the position-based one for the robot based on joint torque feedback and the friction has even a positive effect on Cartesian impedance control stability.