精密磨抛加工机器人自主重力补偿方法研究  

Gravity Compensation Method for Precision Grinding and Polishing Robot

作　　者：祁若龙 邵健铎[1] 李论 QI Ruolong;SHAO Jianduo;LI Lun(School of Mechanical Engineering,Shenyang Jianzhu University,Shenyang,China,110168;State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang,China,110169)

机构地区：[1]沈阳建筑大学机械工程学院,辽宁沈阳110168 [2]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110169

出　　处：《沈阳建筑大学学报（自然科学版）》2024年第1期158-166,共9页Journal of Shenyang Jianzhu University：Natural Science

基　　金：国家自然科学基金-辽宁省联合基金项目(U1908230)。

摘　　要：目的 针对工业机器人磨抛加工过程需消除不同位姿条件下重力矢量对末端力感知的影响,提出一种重力补偿算法,从而精确控制三维磨削力。方法 借助安装在机器人末端的六维力传感器,读取机器人多个随机位姿下实时力和力矩信息,并基于卡尔曼滤波对传感器信息进行有效降噪;通过线性拟合算法对降噪后数据开展数值分析,计算出传感器误差、机器人世界坐标系偏移、末端负载重心大小及重心坐标等参数;根据以上参数并结合机器人当前姿态来实时消除负载重力影响。结果 采用笔者所提算法对同样静态条件下的机器人进行重力补偿,补偿后的重力影响产生的各方向力均近似为0,偏差小于0.1 N。结论 笔者所提出的算法充分考虑了重力补偿参数之间的耦合作用,能够消除重力影响,精确测量出机械臂末端六维力传感器受到的外力以及外力矩。The purpose of this paper is to eliminate the influence of gravity vector on the end force perception of the industrial robot in different position and pose conditions in the process of precision grinding and polishing,so as to accurately control the three-dimensional grinding force,a gravity compensation algorithm is proposed.The method is to read the force and torque information of the robot under multiple random positions and poses based on the six-dimensional force sensor installed at the end.The sensor error,the deviation of the robot world coordinate system,the size and coordinates of the center of gravity of the terminal load can be calculated by using Kalman filter to de-noise the data of the sensor information.According to the above parameters and the robot′s current attitude,the effect of load gravity can be eliminated in real time.The results show that the experimental data are from the static robot.The experimental data are from the static robot.The algorithm is used to compensate the gravity of the static robot,and the gravity after compensation is approximately zero.The conclusion is that the algorithm proposed in this paper can measure the external force and torque on the end load of the manipulator satisfying the machining accuracy by using the sensor data under the general attitude of the robot and fully considering the coupling effect between the parameters affecting the gravity compensation.

关 键 词：六维力传感器 工业机器人 重力补偿 系统标定 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]