基于顺应性跟踪控制的工业机器人直接示教系统  

A direct teaching system of industrial robots based on compliant tracking control

作　　者：徐建明[1] 丁毅[1] 禹鑫燚[1] 俞立[1] 

机构地区：[1]浙江工业大学信息工程学院,杭州310023

出　　处：《高技术通讯》2015年第5期500-507,共8页Chinese High Technology Letters

基　　金：国家自然科学基金(61374103);863计划(2014AA041601-05);浙江省科技厅计划(2014C31107)资助项目

摘　　要：研究了机器人直接示教问题,开发了St(a|¨)ubli TX90工业机器人的直接示教系统。该系统采用一种基于速度调节的顺应性跟踪控制方法,因而能够通过力控制器调节机械臂末端执行器参考速度,实现机械臂对牵引力的顺应性跟踪;同时定周期采集并存储机械臂运动轨迹,通过Douglas-Peucker矢量数据压缩算法去除冗余轨迹点,生成示教轨迹。基于VAL3机器人语言编写了直接示教程序模块,并嵌入St(a|¨)ubli工业机器人示教系统。最后,通过试验验证了所设计直接示教系统的有效性。The direct teaching problem of robots was studied, and a direct teaching system was developed on the Staubli TX90, an industrial robot. A velocity adjusting-based compliance tracking control method was applied to the system, so it can adjust the reference velocity of the manipulator by the force controller to achieve the manipulator＇ s compliant traction tracking. In the meantime, the system periodically collects and stores the manipulator trajectory, and removes redundancy tracing points, the system periodically the Douglas-Peucker vector data compression algorithm to generate a teaching path. The direct teaching program module was designed based on the VAL3 robot language, and it was embedded in the Staubli industrial robot teaching system. Finally, the effectiveness of the developed direct teaching system was verified through the experiment.

关 键 词：顺应性跟踪控制 直接示教 工业机器人 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]