摘要
示教是学习机器人很重要的环节,其中直接示教相比其他示教方法具有简单、快捷、准确率高等优点,然而目前的大部分机器人都不支持直接示教。提出了一种基于力引导的直接示教方法。首先,通过六维力传感器实时监控、采集力/力矩信号,再将采集到的力信号和力矩信号经由重力补偿算法和重力矩补偿算法处理后发送给上位机;然后根据力-位控制算法求解出工业机器人的移动量和旋转量;最后通过Socket通信将数据发送给工业机器人,完成力引导示教。实验结果表明,该直接示教方法准确、通用性好,具有推广意义,能够在力引导示教完成后再进行示教轨迹还原。
Teaching is a very important part of learning robots.Compared to other teaching methods,it is characteristic of simple and fast operation and high accuracy.However,most of the current robots do not support the direct teaching.This paper presents a direct teaching method based on force guidance.The six-dimensional force sensor is used to do real-time monitoring and collect the force/torque signals.Then the collected force and torque signals are processed through the gravity and the heavy torque compensation algorithm and sent to the host computer.And then the force-bit control algorithm is used to solve the industrial robot movement and rotation and the data is sent to the industrial robot by Socket communication to finish the force guidance teaching.The experimental results show that the proposed algorithm is accurate and universal,and can also be used to restore the teaching trajectory after the force guidance is completed.
作者
黄青红
王兆权
高裕强
HUANG Qinghong;WANG Zhaoquan;GAO Yuqiang(School of Mechanical Engineering and Automation,Fuzhou University,Fuzhou 350108,China)
出处
《机械制造与自动化》
2018年第5期57-60,共4页
Machine Building & Automation
关键词
力引导示教
六维力传感器
工业机器人
示教还原
force guidance teaching
six-axis force sensor
industrial robot
teaching reduction
