自动装配减速机中机械臂的笛卡尔阻抗控制  

Cartesian Impedance Control of Manipulator In Automatic Assembly Reducer

作　　者：王程安 马桂芳[1] 陈阳 刘生建[1] 温发林[1] 罗智骁 WANG Chengan;MA Guifang;CHEN Yang;LIU Shengjian;WEN Falin;LUO Zhixiao(College of Physics and Mechanical&Electrical Engineering,Longyan University,Longyan 360412,China)

机构地区：[1]龙岩学院物理与机电工程学院,福建龙岩364012

出　　处：《传感器世界》2023年第6期26-30,共5页Sensor World

基　　金：福建省大学生创新创业训练计划(No.2019044536);福建省自然科学基金项目(No.2022J011147);龙岩高新区(经开区)奇迈科技创新基金项目(No.2021GXQQM01);福建省科技厅自然科学基金(面上)项目(No.2020J01362)。

摘　　要：针对谐波减速机的装配严重依赖人工装配技能,整机故障率高等问题,文章研究了一种基于笛卡尔阻抗控制的机械臂系统来代替人工,实现谐波减速机的自动装配,以提高减速机工件的装配速度与精度,减少人为因素影响。首先,将装配组件抽象为peg-in-hole模型,然后阐述了机械臂笛卡尔空间下的阻抗控制算法,并根据模型建立机械臂的笛卡尔空间阻抗控制系统,最后通过实验验证了该方法的有效性,使装配更加柔顺,具有一定的实际应用价值。Aiming at the problems that the assembly of the harmonic reducer depends heavily on manual assembly skills and the high failure rate of the whole machine,in the paper a manipulator system based on Cartesian impedance control is studied to replace manual automatic assembly of the harmonic reducer,in order to improve the assembly speed and accuracy of the reducer workpiece and reduce the impact of human factors.Firstly,the assembly components are abstracted as peg-in-hole model,and then the impedance control algorithm in Cartesian space of the robotic arm is presented,and the Cartesian space impedance control system of the manipulator is established according to the model.Finally,the effectiveness of this method is verified through experiment,making the assembly more flexible and having certain practical application value.

关 键 词：减速机 空间机械臂 轨迹跟踪 笛卡尔阻抗控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]