基于事件的机器人主-被动混合力-位控制方法  

Event Based Robot Hybrid Acitive-Passive Force-Position Control Method

作　　者：谢小辉[1] 孙立宁[1] 张峰峰[1] XIE Xiaohui;SUN Lining;ZHANG Fengfeng(Robotics and Microsystems Center,Soochow University,Soochow Jiangsu 215006,China)

机构地区：[1]苏州大学机器人与微系统研究中心,江苏苏州215006

出　　处：《广西师范大学学报（自然科学版）》2020年第2期121-127,共7页Journal of Guangxi Normal University:Natural Science Edition

基　　金：国家自然科学基金(61473200)。

摘　　要：机器人系统螺丝锁付过程中实际接触力难以精确获得;若采用力传感信号来检测接触力并加以控制,力传感器不易安装,且传感器噪声和信号传输延迟都会对控制的精确性产生影响,使得系统不可控。本文采集伺服电机转矩值经过换算得到末端锁付头与工件的接触力,来替代直接采用力传感器信号反馈末端执行器的接触力。以螺丝锁付过程中期望的锁止扭矩作为阈值,并通过能量均衡器对预测力值和当前解算力值进行能量校正,使锁付机器人控制系统保持无源性且具备主动柔顺的能力,来达到系统的安全性。针对一种精密塑胶件自动化锁付,本文设计实现一种被动柔顺机构,并结合基于事件的力位混合控制策略,验证机器人锁付过程中主-被动力-位混合控制的安全性和可行性。It’s hard to get the contact force of screw turning accurately in a robot system. If a force sensor is used to detect the contact force, there are lots of problems, such as, it is hard to fix the sensor and noise of sensor or transmission delay of signal may affect the accuracy of system control. In this paper, instead of using the force sensor to detect the force. the torque value of the servo motor is used to compute the contact force between the head of screw driver and the work-piece. The expected locking torque is used as the threshold value in the control system design and the energy regulator is used in energy correction to balance the predictive force value and current calculation force value, in order that the control system of robot screwing system can be stable in passivity and active compliance. In the automatic screwing process of a precision plastic, the passive flexible mechanic and event based control method is designed to test the safety and feasibility of the presented hybrid acitive-passive force-position control method.

关 键 词：机器人 力-位控制 主-被动混合 基于事件 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]