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为了克服末端接触点距离力传感器中心较远时,力传感器测量实际接触力的局限性,分析实际作用力与测量力/力矩值之间的关系,利用力传感器信息或力矩信息得到位置控制方向和力控制方向.根据位控与力控方向对机器人末端进行参考轨迹规划,在阻抗控制律中应用参考比例因子调节参考轨迹.基于力误差信息通过模糊推理调节参考比例因子的大小,使生成的参考轨迹适应未知表面的变化.实验结果表明,所提出的控制方法能实现未知工件表面的恒力跟踪.
In order to overcome the limitations of the force sensor measuring the actual contact force when the end contact point is far away from the force sensor center, the relationship between the actual force and the measured force / torque value is analyzed, and the force control information and torque information are used to obtain the position control direction and Force control direction.According to the position control and force control direction of robot end reference trajectory planning, the application of the reference scale factor in the impedance control law to adjust the reference trajectory.Based on the force error information through fuzzy reasoning to adjust the size of the reference scale factor, the resulting reference The trajectory adapts to the change of the unknown surface.The experimental results show that the proposed control method can realize the constant force tracking of the unknown workpiece surface.