机械臂腕力传感器负载端重力补偿算法与仿真  

Design and Verification of Gravity Influence Compensation Algorithm on Load End

作　　者：刘岩 武俊峰[1] 夏科睿 马常友 LIU Yan;WU Jun-feng;XIA Ke-rui;MA Chang-you(School of Automation,Harbin University of Science and Technology,Harbin 150080,China;State Key Laboratory of Robotics and System,HIT,Harbin 150080,China)

机构地区：[1]哈尔滨理工大学自动化学院,黑龙江哈尔滨150080 [2]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150001

出　　处：《哈尔滨理工大学学报》2018年第2期78-85,共8页Journal of Harbin University of Science and Technology

基　　金：国家重点基础研究发展计划(973计划)项目(2013CB035500)

摘　　要：针对机械臂运动时负载端姿态变化影响腕力传感器测量结果问题,提出一种腕力传感器负载端重力补偿算法。通过分析机械臂负载端不同姿态下的重力变化形式,采用实验方法测定负载端重力与重心参数。建立了腕力传感器重力补偿系统模型,结合机械臂运动学方程,推导出腕力传感器负载端重力补偿算法和机械臂末端作用力解算方法,并应用算例进行MATLAB与ADAMS联合仿真。仿真结果表明,本补偿算法能有效地消除负载端姿态变化影响,通过腕力传感器准确地测量机械臂所受的外力信息,验证了机械臂腕力传感器负载端重力补偿算法的正确性。Aiming at the problem that the measuring results of wrist force sensor can be influenced by load end′s attitude change when mechanical arm moves,this paper proposes a load gravity compensation algorithm for wrist force sensor.According to gravity variation of the load end in different mechanical arm posture,the relationship between the gravity of load end and the position of the center of gravity can be measured by experiment.We build a wrist force sensor gravity compensation model,and combining manipulator kinematics equation,we deduct a load gravity compensation algorithm for wrist force sensor and a calculation method for force acting on the end of mechanical arm.Specific examples have been tested by adopting the ADAMS and MATLAB joint simulation method.The results show that this compensation algorithm can effectively eliminate the influence of the attitude change of load end,the external force information of mechanical arm can be measured by wrist force sensor.And the results verify the correctness of the load gravity compensation algorithm for wrist force sensor.

关 键 词：机械臂 腕力传感器 重力补偿 仿真 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]