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合作机器人(cobot)是与人在同一作业空间内直接进行物理合作的机器人。为了实现cobot直接与人合作作业,根据cobot的特点,建立了不完全约束关节机构的模型和cobot的控制模型,提出了cobot的控制策略。建立了控制策略的仿真模型,对cobot跟踪给定直线和圆弧进行了仿真研究。研究结果表明:这种控制策略是可行的,它能在人机合作的条件下使cobot跟踪期望轨迹。当操作力为0时,cobot静止不动,因此不会因为机器人失控而伤害操作者,满足了人机合作的要求。这种控制策略可以应用在外科手术、物料搬运和零件装配的合作机器人中。
A cobot is a robot that physically interacts directly with people in the same work space. In order to achieve cobot direct cooperation with people, according to the characteristics of cobot, established a model of incompletely constrained joint mechanism and cobot control model, proposed cobot control strategy. The simulation model of control strategy is established, and the simulation of cobot tracking given line and arc is carried out. The results show that this control strategy is feasible and it can make the cobot track the desired trajectory under man-machine cooperation. When the operating force is 0, the cobot is stationary, so it will not hurt the operator because of the robot running out of control, and meets the man-machine cooperation requirements. This control strategy can be used in surgical robots that handle surgeries, material handling and parts assembly.