摘要
文章针对关节一体化机器人在高速复杂运动下能保持手臂平滑运动同时具有拖曳式示教的功能问题。首先文章利用DH法建立了转换坐标系,得到了各关节连杆的相对关系,运用弦位迭代的算法解决了手臂运动解耦问题。其次,针对关节一体化机器人空机械手的结构特点,建立了用牛顿—欧拉法的动力学方程。再次,在分析阻抗控制原理的基础上,设计了笛卡尔空间基于力的阻抗控制结构,并在关节空间实现笛卡尔空间经典阻抗控制问题。最后在机器人实验平台,基于关节转矩反馈设计阻抗控制器,并进行阻抗控制实验,实现机器人拖曳式示教功能,验证了所设计算法的有效性。
In this paper,the joint robot can maintain the smooth movement of the arm under the high speed and complicated movement,and has the function of dragging teaching. Firstly,the transformation coordinate system is established by DH method,and the relative relation of each joint is obtained. The algorithm of solving the arm motion is solved by using the iterative algorithm. Secondly,the dynamic equation of Newton-Euler method is established for the structural characteristics of joint robot. Thirdly,on the basis of analyzing the principle of impedance control,the impedance control structure based on force in Cartesian space is designed,and the classical impedance control problem of Cartesian space is realized in joint space.Finally,the impedance controller is designed based on the joint torque feedback of the robot experiment platform,and the impedance control experiment is carried out to realize the function of the robot towing teaching,which verifies the validity of the designed algorithm.
出处
《组合机床与自动化加工技术》
北大核心
2017年第12期33-36,40,共5页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然科学基金(81071234)
