| 合作机器人的控制策略及实验研究 |
| |
| 引用本文： | 董玉红,张立勋,沈锦华.合作机器人的控制策略及实验研究[J].高技术通讯,2005,15(11):30-34. |
| |
| 作者姓名： | 董玉红 张立勋 沈锦华 |
| |
| 作者单位： | 哈尔滨工程大学机电工程学院,哈尔滨,150001;哈尔滨工程大学机电工程学院,哈尔滨,150001;哈尔滨工程大学机电工程学院,哈尔滨,150001 |
| |
| 基金项目： | 国家自然科学基金（60275030）和哈尔滨市留学回国基金（2002AFLXJ004）资助项目. |
| |
| 摘 要： | 为了实现合作机器人（cobot）与人直接合作，根据其特性，建立了cobot不完全约束关节机构的模型和它的控制模型，提出了cobot的控制策略，并对cobot跟踪直线和圆弧轨迹进行了实验研究。研究结果表明，该控制策略是可行的，能在人机合作的条件下使cobot跟踪期望轨迹，并不会因为机器人的失控而伤害操作者，可满足人机合作的要求。提出的cobot控制策略可以应用于外科手术、物料搬运和零件装配的合作机器人中。
|
| 关 键 词： | 合作机器人 不完全约束 控制策略 实验研究 |
| 收稿时间： | 2005-03-11 |
| 修稿时间： | 2005-03-11 |
Control strategy of cobot and experimentation |
| |
| Dong Yuhong,Zhang Lixun,Shen Jinhua.Control strategy of cobot and experimentation[J].High Technology Letters,2005,15(11):30-34. |
| |
| Authors: | Dong Yuhong Zhang Lixun Shen Jinhua |
| |
| Affiliation: | School of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001 |
| |
| Abstract: | In order to implement cobot's direct cooperation with human, the model of non-holonomic constraint joint mechanism of cobot and its control model were constructed according to the features of cobot. A control strategy was put forward, and the experimental studies of cobot following a straight line and a section of circle were carried out. The research results illustrate that the control strategy is feasible, and it can make cobot track a desired trajectory in man-machine collaboration situations. It can not make the operator injured when cobot is out of control, and meet the requirements of man-machine cooperation. The control strategy can be applied to cobots of surgery operation, material moving and parts assembly and so on. |
| |
| Keywords: | cobot non-holonomic constraint control strategy experimentation |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
