阻抗控制框架下基于关节力矩反馈的机器人零力控制

针对当前示教器示教过程烦琐、效率低下以及对操作者技能水平要求高等缺点,提出了一种阻抗控制框架下基于关节力矩反馈的机器人零力控制方法,适用于机械臂的直接拖动示教。该方法采用阻抗控制框架,通过设置低刚度增益的方式,无需获取精确的动力学参数便可实现良好的零力控制效果。同时,区别于基于六维力传感器的零力控制方法,该方法不仅可对机械臂末端进行拖动,还可实现在关节空间下对机械臂任意关节的拖动。最后,在自行设计搭建的机器人平台上进行拖动实验。实验结果表明,该方法鲁棒性强、性能稳定,并可实现对机械臂任意关节的零力控制。

Zero Force Control of Robot Based on Joint Torque Feedback in Impedance Control Framework

Aiming at the disadvantages of cumbersome teaching process , low efficiency and high requirements for the skill level of operators , this paper proposes a zero force control method of robot based on joint torque feedback under the impedance control framework , which is suitable for the direct drag teaching of manipulator.This method adopts the impedance control framework.By setting the low stiffness gain , it can achieve good zero force control effect without obtaining accurate dynamic parameters.At the same time , different from the zero force control method based on six dimensional force sensor , this method can not only drag the end of the manipulator , but also drag any joint of the manipulator in joint space.Finally , the drag experiment is carried out on the self-designed robot platform.The experimental results show that this method has strong robustness and stable performance , and can realize the zero force control of any joint of the manipulator.