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机器人进行轴孔装配时,末端初始位姿常存在偏差,如何利用力传感器获取的力信息调整末端位姿非常重要。对轴孔装配的模型进行了分析,建立了装配接触点坐标系,并推导了接触点坐标系到力传感器坐标系的变换,解耦了由力传感器获得的力矩数据。基于解耦的力信息,本文提出了直接调整法调整末端位姿,该方法简单,不需复杂计算,但调整步长单一。针对直接调整法的不足,文中将模糊控制应用于输入输出关系,使调整步长多样化。实验证明了模糊控制的有效性。
When the robot shaft hole assembly, the end of the initial posture often deviations, how to use the force sensor to obtain the force information to adjust the end pose is very important. The assembly model of the shaft hole is analyzed, the coordinate system of the assembly contact point is established, and the transformation of the coordinate system of the contact point to the coordinate system of the force sensor is deduced, and the torque data obtained by the force sensor is decoupled. Based on the decoupled force information, this paper proposes a direct adjustment method to adjust the pose of the end. This method is simple and requires no complicated calculation, but the adjustment step is single. Aiming at the deficiency of direct adjustment method, fuzzy control is applied to the relationship between input and output, so that the adjustment steps are diversified. Experiments prove the effectiveness of fuzzy control.