| 机器人碰撞保护 |
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| 引用本文： | 张程,王伟栋,卢振利,王超然.机器人碰撞保护[J].机械与电子,2019,37(8):76-80. |
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| 作者姓名： | 张程 王伟栋 卢振利 王超然 |
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| 作者单位： | 常熟理工学院电气与自动化工程学院,江苏常熟215500;中国矿业大学信息与控制工程学院,江苏徐州221116;常熟理工学院电气与自动化工程学院,江苏常熟215500;苏州东控自动化科技有限公司,江苏常熟215500;常熟理工学院电气与自动化工程学院,江苏常熟,215500;苏州东控自动化科技有限公司,江苏常熟,215500 |
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| 基金项目： | 中国-塞尔维亚政府间科技合作委员会第三届例会资助项目 |
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| 摘 要： | 对机器人力矩控制进行了研究,首先从牛顿-欧拉算法分析了机器人要辨识的动力学基本参数,并建立了机器人外部扰动力矩模型。然后基于机器人外部力矩扰动的力学模型,设置控制置信区间,实现了机器人碰撞保护。最后对机器人进行了碰撞试验,从刚性碰撞、柔性碰撞和轻微碰撞对机器人碰撞进行试验。试验表明,基于力矩模型的机器人碰撞保护方法能在机器人发生碰撞初期及时制止,从而保护人和物件。
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| 关 键 词： | 机器人 力矩控制 力学模型 碰撞保护 |
Robot Collision Protection |
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| ZHANG Cheng,WANG Weidong,LU Zhenli,WANG Chaoran.Robot Collision Protection[J].Machinery & Electronics,2019,37(8):76-80. |
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| Authors: | ZHANG Cheng WANG Weidong LU Zhenli WANG Chaoran |
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| Affiliation: | (School of Electrical Engineering and Automation, Changshu Institute of Technology, Changshu 215500,China;School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221116, China;East Control Automation Technology Co., Ltd., Changshu 215500, China) |
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| Abstract: | The robot torque control is studied. Firstly, the basic parameters of robot dynamics were analyzed from the Newton-Euler algorithm, and the model of robot external perturbation moment was established. Then, based on the mechanical model of the robot’s external moment disturbance, the control confidence interval was set up to realize the robot collision protection. Finally, the robot collision test was carried out, and the robot collision test was carried out from rigid collision, flexible collision and slight collision. The experiment shows that the robot collision protection method based on moment model can stop the robot in the early stages of collision, thus protecting human beings and objects. |
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| Keywords: | robots torque control mechanical model collision protection |
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