合作机器人的控制策略及实验研究  

Control strategy of cobot and experimentation

作　　者：董玉红 张立勋[1] 沈锦华[1] 

机构地区：[1]哈尔滨工程大学机电工程学院,哈尔滨,150001

出　　处：《高技术通讯》2005年第11期30-34,共5页Chinese High Technology Letters

基　　金：中国科学院资助项目，黑龙江省哈尔滨市留学回国人员科研启动基金

摘　　要：为了实现合作机器人(cobot)与人直接合作,根据其特性,建立了cobot不完全约束关节机构的模型和它的控制模型,提出了cobot的控制策略,并对cobot跟踪直线和圆弧轨迹进行了实验研究.研究结果表明,该控制策略是可行的,能在人机合作的条件下使cobot跟踪期望轨迹,并不会因为机器人的失控而伤害操作者,可满足人机合作的要求.提出的cobot控制策略可以应用于外科手术、物料搬运和零件装配的合作机器人中.In order to implement cobot＇s direct cooperation with human, the model of non-holonomic constraint joint mechanism of cobot and its control model were constructed according to the features of cobot. A control strategy was put forward, and the experimental studies of cobot following a straight line and a section of circle were carried out. The research results illustrate that the control strategy is feasible, and it can make cobot track a desired trajectory in man-machine collaboration situations. It can not make the operator injured when cobot is out of control, and meet the requirements of man-machine cooperation. The control strategy can be applied to cobots of surgery operation, material moving and parts assembly and so on.

关 键 词：合作机器人 不完全约束 控制策略 实验研究 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TB18[自动化与计算机技术—控制科学与工程]