力法原理在机器人碰撞点识别中的应用  

Application of Force Method Principle in Robot Collision Point Recognition

作　　者：朱博承 王志军 李占贤 马文文 ZHU Bocheng;WANG Zhijun;LI Zhanxian;MA Wenwen(College of Mechanical Engineering,North China University of Science and Technology,Tangshan 063210,China;Industrial Robotics Research Institute of Hebei Province,North China University of Science and Technology,Tangshan 063210,China)

机构地区：[1]华北理工大学机械工程学院,唐山063210 [2]华北理工大学河北省工业机器人产业技术研究院,唐山063210

出　　处：《组合机床与自动化加工技术》2024年第6期86-92,共7页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金项目(51505124);河北省高等学校科学技术研究项目(ZD2020151);唐山市科技创新团队培养计划项目(21130208D)。

摘　　要：随着机器人技术、人机协同作业技术被广泛关注,如何实现一个人机共融的安全系统至关重要。想要实现真正的人机共融,保证安全性、做好碰撞点的识别工作是重点。针对皮肤传感器应用包覆性来感知外力的局限性,提出了一种人机协同作业时当碰撞连杆已知,引入一种新的求解碰撞点处外部接触力的方法。利用力法原理求解超静定结构的方式,只需借助机器人本体输出的部分参数信息,即可根据受力信息,得到碰撞点的位置信息。最后,搭载实验平台对所提出的算法进行仿真实验,实验结果表明通过受力信息锁定碰撞点位置时,其受力情况的误差范围在可接受的范围之内,满足机器人碰撞点识别算法的精度要求。With robotics and human-robot co-operation technologies are widely concerned,it is crucial to realize a human-machine inclusive safety system.To realize true human-machine integration,ensuring safety and good identification of collision points are the key points.Aiming at the limitation of skin sensor application wrapping to perceive external force,a new method of solving external contact force at the collision point is introduced when the collision linkage is known during human-robot cooperation.The way of solving the super-stationary structure based on the principle of force method,the information of the location of the collision point can be obtained based on the force information with the help of only part of the parameter information output from the robot body.Finally,the experimental platform is mounted and simulation experiments are conducted on the algorithm proposed in this paper.The experimental results show that when the collision point position is locked by force information,the error range of its force situation is within an acceptable range and meets the accuracy requirements of the robot collision point identification algorithm.

关 键 词：人机协作 超静定结构 力法求解 碰撞点识别 

分 类 号：TH16[机械工程—机械制造及自动化] TG66[金属学及工艺—金属切削加工及机床]