[1]王 剑,李成刚,岳云双,等.阻抗控制框架下基于关节力矩反馈的机器人零力控制[J].机械与电子,2022,(05):77-80.
　WANG Jian,LI Chenggang,YUE Yunshuang,et al.Zero Force Control of Robot Based on Joint Torque Feedback in Impedance Control Framework[J].Machinery & Electronics,2022,(05):77-80.
点击复制

阻抗控制框架下基于关节力矩反馈的机器人零力控制()
分享到：

机械与电子[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2022年05期
页码:
77-80
栏目:
智能工程
出版日期:
2022-05-24

文章信息/Info

Title:
Zero Force Control of Robot Based on Joint Torque Feedback in Impedance Control Framework
文章编号:
1001-2257 ( 2022 ) 05-0077-04
作者:
王 剑; 李成刚; 岳云双; 韩 宇; 韩林昌; 伏子豪
南京航空航天大学机电学院,江苏 南京 210016
Author(s):
WANG Jian ;  LI Chenggang ;  YUE Yunshuang ;  HAN Yu ;  HAN Linchang ;  FU Zihao
( College of Mechanical and Electrical Engineering , Nanjing University of Aeronautics and Astronautics , Nanjing 210016 , China
关键词:
拖动示教; 零力控制; 阻抗控制; 低刚度
Keywords:
drag teaching ;  zero force control ;  impedance control ;  low stiffness
分类号:
TP242
文献标志码:
A
摘要:
针对当前示教器示教过程烦琐、效率低下以及对操作者技能水平要求高等缺点,提出了一种阻抗控制框架下基于关节力矩反馈的机器人零力控制方法,适用于机械臂的直接拖动示教。该方法采用阻抗控制框架,通过设置低刚度增益的方式,无需获取精确的动力学参数便可实现良好的零力控制效果。同时,区别于基于六维力传感器的零力控制方法,该方法不仅可对机械臂末端进行拖动,还可实现在关节空间下对机械臂任意关节的拖动。最后,在自行设计搭建的机器人平台上进行拖动实验。实验结果表明,该方法鲁棒性强、性能稳定,并可实现对机械臂任意关节的零力控制。
Abstract:
Aiming at the disadvantages of cumbersome teaching process , low efficiency and high requirements for the skill level of operators , this paper proposes a zero force control method of robot based on joint torque feedback under the impedance control framework , which is suitable for the direct drag teaching of manipulator.This method adopts the impedance control framework.By setting the low stiffness gain , it can achieve good zero force control effect without obtaining accurate dynamic parameters.At the same time , different from the zero force control method based on six dimensional force sensor , this method can not only drag the end of the manipulator , but also drag any joint of the manipulator in joint space.Finally , the drag experiment is carried out on the self-designed robot platform.The experimental results show that this method has strong robustness and stable performance , and can realize the zero force control of any joint of the manipulator.

参考文献/References:

[ 1 ] 何玉庆,赵忆文,韩建达,等 . 与人共融:机器人技术发展的新趋势[ J ] . 机器人产业, 2015 ( 5 ): 74-80.

[ 2 ] 陈青,许礼进,储昭琦 . 基于零力控制的机器人拖动示教方案设计[ J ] . 机器人技术与应用, 2019( 5 ): 40-43.
[ 3 ] YOU Y .Force-free control for the direct teaching of robots [ J ] .Journal of mechanical engineering , 2014 , 50( 3 ): 10-17.
[ 4 ] FERNANDO G , JANUSZ Z .Teaching joint-level robot programming with a new robotics software tool[ J ] .Robotics , 2017 , 6 ( 4 ): 41-45.
[ 5 ] 游有鹏,张宇,李成刚 . 面向直接示教的机器人零力控制[ J ] . 机械工程学报, 2014 , 50 ( 3 ): 10-17.
[ 6 ] GOTO S , NAKAMURA M , KYURA N .Forcefree control with independent compensation for inertia friction and gravity of industrial articulated robot arm [ C ] // 2003 IEEE International Conference on Robotics and Automation.New York : IEEE , 2003 , 3 : 4386-4391.
[ 7 ] TUNGPATARATANAWONG S , OHISHI K , MIYAZAKI T.Force sensorless workspace impedance control considering resonant vibration of industrial robot [ C ]// 31st Annual Conference of the IEEE Industrial Electronics So ciety.New York : IEEE , 2005 : 1878-1883.
[ 8 ] HOGAN N .Impedance control : an approach to manipulation [ C ]// 1984 American Control Conference.New York : IEEE , 1984 : 304-313.
[ 9 ] LEE S H , LI C J , KIM D H , et al.The direct teaching and playback method for robotic deburring system using the adaptiveforce-control [ C ]// 2009 IEEE International Symposium on Assembly and Manufacturing. New York : IEEE , 2009 : 235-241.

备注/Memo

备注/Memo:
收稿日期: 2021-11-10
基金项目:航空科学基金( 201916052001 );南京航空航天大学开放基金( kfjj20200515 )
作者简介:王 剑 ( 1997- ),男,江西抚州人,硕士研究生,研究方向为智能机器人技术;李成刚 ( 1975- ),男,江苏南京人,副教授,硕士研究生导师,研究方向为工业机器人技术和传感器技术。
更新日期/Last Update: 2022-05-26