论文部分内容阅读
用六维腕力传感器(HUST-FS6)检测力信号,并通过将力信号转变成机械手的位置调整量的方法,在五关节机器手Movemaster-EX上实现了顺应性跟踪控制(零力跟踪).实验结果表明,所采用的控制算法简单实用,控制效果良好,且无需测量机械手的开环刚度.对控制参数稍加改变,便可以完成插轴入孔的装配作业.本控制系统用一台386微型机作为控制主机,并采用C语言编制控制程序.
The force tracking control (zero force tracking) was implemented on the five-joint robot Movemaster-EX by detecting the force signal with a six-dimensional wrist force sensor (HUST-FS6) and by converting the force signal into a manipulator’s position adjustment. The experimental results show that the control algorithm adopted is simple and practical, the control effect is good, and there is no need to measure the open-loop stiffness of the manipulator.On the other hand, the control parameters can be changed slightly to complete the assembly work of the spindle insertion hole.This control system uses a 386 Microcomputer as a control host, and the use of C language control procedures.