融合六维力感知技术的随动系统设计与测试实现

通过力对机器人进行运功控制是人机交互一个重要组成部分。将六维力感知机理与机器人控制技术融合,以力信息作为人机交互系统的控制输入,制定了响应迅速,运行稳定的随动控制策略,搭建了集成六维力感知、上位机控制、机器人系统的人机交互及测试平台,实现了机器人对于施力者的随动运动控制。基于此平台制定了轴孔装配控制策略,进行了轴孔装配测试,为补偿机器人末端运动偏转过程中所受耦合力干扰,对六维力传感器进行了运行过程中的标定,将实际补偿模型与理论模型进行了对比分析,并对机器人末端执行器进行受力补偿,结果表明,人机交互随动系统测试结果良好,为工业机器人装配任务中的初始定位不明确问题及轨迹规划示教提供了参考。

The design and achievement of fol ow-up system combined with six-axis force sensing technology

The control of the robot by force is an important part of human-computer interaction.The six-dimensional force sensing mechanism is integrated with robot control technology,and the force information is used as the control input of human-computer interaction system,the follow-up control strategy with the characteristics of quick response and stable operation is proposed,the human-computer interaction system consists of six-dimensional force sensing system,host computer and the robot control system is established.The following motion control of the robot to the operator is realized.Based on this platform,the control strategy of axle hole assembly is formulated,and the axle hole assembly is tested,In order to compensate the influence of the coupling forces in the movement process of the end effector of the manipulator,the calibration experiment of the six-axis sensor during the operational process was carried out,the Actual compensation model of experiment and theoretical model are compared and analyzed,and force compensation was performed on the robot end effector,the results show that the human-computer interaction system has a good effect,this study provides a powerful reference for the problem of uncertain initial orientation in the assembly and complex trajectory planning of industrial robots.