本文關(guān)鍵詞： 零力控制 自適應(yīng)控制 模型辨識(shí) 直接示教 變負(fù)載　出處：《機(jī)器人》2017年04期 　論文類型：期刊論文

【摘要】：相對(duì)于基于末端多維力傳感器的直接示教工業(yè)機(jī)器人,基于關(guān)節(jié)扭矩傳感器信息的機(jī)器人可接觸范圍大,且安全性更好.但在變負(fù)載的復(fù)雜工況下,加上受到機(jī)器人自身摩擦力、重力、慣性力的影響,示教效率受到制約.為此,本文提出了一種零力控制方法.首先,引入柔性關(guān)節(jié)機(jī)械臂的動(dòng)力學(xué)模型作為被控對(duì)象,并分析了該模型中電機(jī)摩擦力、慣量以及機(jī)械臂重力在直接示教過(guò)程中的影響.然后,為精確補(bǔ)償機(jī)器人自身的重力,基于QR分解與最小二乘理論進(jìn)行參數(shù)辨識(shí).而且針對(duì)機(jī)器人更換末端執(zhí)行器或抓取物品后模型參數(shù)發(fā)生變化的情況,提出一種變負(fù)載自適應(yīng)零力控制方法.最后,在自主研發(fā)的7自由度協(xié)作型機(jī)器人平臺(tái)上進(jìn)行了實(shí)驗(yàn).機(jī)械臂自身重力參數(shù)辨識(shí)后的模型最大計(jì)算誤差在關(guān)節(jié)額定力矩的4%以內(nèi),單關(guān)節(jié)力牽引實(shí)驗(yàn)中通過(guò)調(diào)節(jié)零力控制參數(shù),牽引力矩可由約13 N·m下降到約2 N·m.變負(fù)載下的機(jī)器人牽引實(shí)驗(yàn)中,控制器能夠在10 s內(nèi)更新參數(shù).實(shí)驗(yàn)結(jié)果表明,在負(fù)載變化的情況下,該控制方法可幫助操作者輕松地拖拽機(jī)器人進(jìn)行精準(zhǔn)、高效的直接示教.
[Abstract]:Compared with the direct teaching industrial robot based on the terminal multi-dimensional force sensor, the robot based on the joint torque sensor information can reach a large range, and the safety is better, but under the complex conditions of variable load. With the influence of friction, gravity and inertia force, the teaching efficiency is restricted. Therefore, a zero force control method is proposed in this paper. First of all, a zero force control method is proposed. The dynamic model of flexible manipulator is introduced as the controlled object, and the effects of motor friction, inertia and manipulator gravity in the direct teaching process are analyzed. In order to accurately compensate the gravity of the robot, the parameters are identified based on QR decomposition and least square theory, and the model parameters change after the robot changes the end actuator or grab the object. A variable load adaptive zero force control method is proposed. Experiments were carried out on the self-developed 7 DOF cooperative robot platform. The maximum calculation error of the model after the identification of the gravity parameters of the manipulator is less than 4% of the rated torque of the joint. In the single joint force traction experiment, the traction torque can be reduced from about 13 N 路m to about 2 N 路m by adjusting the zero force control parameters. The controller can update the parameters within 10 seconds. The experimental results show that the proposed control method can help the operator to tug the robot easily and accurately and efficiently in the case of load change.
【作者單位】： 中國(guó)科學(xué)院沈陽(yáng)自動(dòng)化研究所機(jī)器人學(xué)國(guó)家重點(diǎn)實(shí)驗(yàn)室;中國(guó)科學(xué)院大學(xué);
【基金】：基金項(xiàng)目:下一代工業(yè)機(jī)器人關(guān)鍵技術(shù)及系統(tǒng)開發(fā)(KGZD-EW-608-1) 新一代機(jī)器人控制技術(shù)研發(fā)(2015106014) 與人共融機(jī)器人共性支撐技術(shù)(C2016001)
【分類號(hào)】：TP242
【正文快照】： 1引言(Introduction)機(jī)器人示教是機(jī)器人投入使用前的重要步驟,現(xiàn)有的工業(yè)機(jī)器人示教方法以示教盒編輯示教動(dòng)作為主.這種示教方法需要操作者對(duì)機(jī)器人動(dòng)作逐個(gè)調(diào)試,組成一整套動(dòng)作并使機(jī)器人重復(fù)示教動(dòng)作.該示教方法使用時(shí)繁瑣、低效,且對(duì)使用者的技能水平要求較高.對(duì)于裝備大

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