摘要
介绍一种基于多传感器的机器人操作器自动更换装置,由于在机器人腕部安装了微调节器,机器人与环境接触时具有很好的柔顺性,在作业时具有很高的刚度;对接时采用了视觉引导粗定位、光学引导精确定位和姿态调整及主被动混合柔顺控制策略,使机器人操作器自动更换过程中都能满足对接正常进行的几何约束条件和力学约束条件;机器人操作器自动更换装置结构简单、感知能力和环境适应能力强、更换迅速、可靠,具有很强的数据传输能力,可用在除水下之外的大多数极限环境条件下。
An automatic robot manipulator exchange system based on multi sensor is introduced in this paper,with micro adjuster in the wrist ,the robot has excellent compliance when contacting with the object and excellent rigidity when working.By using visual guide macro locating,optical guide micro locating and posture adjusting,active passive hybrid control,the robot exchanges the manipulators under the geometric constrain and the force constrain successfully.The automatic manipulator exchange system has simple structure,excellent ability of information acquisition,environment fitting,information exchange,changing the manipulators quickly and reliably,and can be used in most of the limit environment except under water.
出处
《机械与电子》
2004年第3期56-58,共3页
Machinery & Electronics
