协作机器人触觉传感装置的设计与碰撞实验  

Design and collision experiment of tactile sensing device for collaborative robot

作　　者：张秀丽[1] 韩春燕 ZHANG Xiuli;HAN Chunyan(School of Mechanical,Electronic and Control Engineering,Beijing Jiaotong University,Beijing 100044,China)

机构地区：[1]北京交通大学机械与电子控制工程学院

出　　处：《北京交通大学学报》2019年第4期88-95,共8页JOURNAL OF BEIJING JIAOTONG UNIVERSITY

基　　金：中央高校基本科研业务费专项资金(2015JBZ005)~~

摘　　要：为提高人机交互中的安全性,设计了一款可穿戴式触觉检测设备,搭建了信息采集系统,对触觉设备的各触觉单元进行了静态标定及数学建模.将其应用于三自由度的轻型机械臂上,利用机器人正运动学D-H法建立了触觉传感单元的运动学模型,通过运动学正逆解得到各触觉单元位姿矩阵,利用坐标系变换进行各触觉正压力方向信息的分析.最后,提出了触觉单元碰撞力方向的识别方法,设计了机械臂碰撞检测避让路径及碰撞实验.实验结果表明,触觉传感装置可以有效的检测碰撞,触觉单元接触力方向识别方法具有较好的准确性.可将其应用在人机交互中进行碰撞检测,从而进行相应的安全控制,提高人机交互的安全.A wearable tactile sensing device is designed to enhance the security of human-robot interaction.And the tactile information collection system is built on which the tactile units of the tactile device undergo static calibration and mathematical modeling.The tactile sensing device is installed on the light mechanical arm with three degree-of-freedom(DOF),then the kinematics model of the tactile sensing unit is established based on D-H method for forward kinematics of robots.After that the orientation matrix of each tactile unit is obtained by the forward and inverse kinematics solution,the direction information of the tactile positive pressure is analyzed by using the coordinate system transformation.Finally,the recognition method of tactile unit collision force direction is proposed after designing the experiment of collision detection and avoidance on mechanical arms.The experimental results show that the tactile sensing device can detect collision effectively,and the proposed tactile unit contact force direction identification method is highly accurate.Therefore,the tactile sensing device can be applied in collision detection and interaction control in human-robot interaction so as to improve its safety.

关 键 词：协作机器人 触觉 碰撞力 信息采集 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]