面向直接示教的机器人零力控制  

Force-free Control for the Direct Teaching of Robots

作　　者：游有鹏[1] 张宇[1] 李成刚[1] 

机构地区：[1]南京航空航天大学机电学院,南京210016

出　　处：《机械工程学报》2014年第3期10-17,共8页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(50975144)

摘　　要：提出基于力矩控制的零力控制方法应用于机器人直接示教。针对机器人连杆重力矩和关节摩擦力矩难以直接建模计算,分析机器人关节力矩与连杆自重、关节位姿、负载大小、库仑摩擦力、黏滞摩擦力等因素的关系,提出基于自测量的重力矩及摩擦力矩计算方案,并给出重力矩、摩擦力矩求解所需参数的具体测量方案。在自行研制的直流电动机驱动机器人样机上验证所研究补偿算法,力矩补偿效果明显。与现有基于位置控制的零力控制方法相比,该方法无需多维力传感器,系统简洁、成本低、示教灵活,为各类运动轨迹复杂的机器人示教开辟了新途径。For the direct teaching of robots, a torque control based force-free control algorithm is proposed. Usually, it is difficult to calculate gravity torque and friction torque from the model directly. The relationship between joint torque and rod weight, joint positions, loads, coulomb friction, viscous friction and other factors are investigated, a gravity and friction compensation algorithm by means of robot＇s self-measuring is proposed. The measuring program for the compensation parameters is also given detailly. The proposed compensation algorithm is verified in a self-developed robot driven by DC motors, and the experiment results show that the torque compensation is obvious and the robot teaching is easy and flexible. Compared with existing position control based force-free control, the proposed algorithm can work without multi-axis force sensor, with simple control system-architecture and low cost. Therefore, the aglorithm may open up a way for the direct teaching of those robots working with various complex trajectory.

关 键 词：机器人 零力控制 直接示教 力矩补偿 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]