| Movemaster-EX机器人零力跟踪控制 |
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| 引用本文： | 胡建元,黄心汉,陈锦江.Movemaster-EX机器人零力跟踪控制[J].华中科技大学学报(自然科学版),1993(6). |
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| 作者姓名： | 胡建元 黄心汉 陈锦江 |
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| 作者单位： | 华中理工大学自动控制工程系
(胡建元，黄心汉)，华中理工大学自动控制工程系(陈锦江) |
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| 基金项目： | 国家自然科学基金资助项目 |
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| 摘 要： | 用六维腕力传感器(HUST-FS6)检测力信号,并通过将力信号转变成机械手的位置调整量的方法,在五关节机器手Movemaster-EX上实现了顺应性跟踪控制(零力跟踪).实验结果表明,所采用的控制算法简单实用,控制效果良好,且无需测量机械手的开环刚度.对控制参数稍加改变,便可以完成插轴入孔的装配作业.本控制系统用一台386微型机作为控制主机,并采用C语言编制控制程序.
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| 关 键 词： | 机器人力控制 混合控制 末端执行器 零力控制 顺应性跟踪控制 |
Zero-Force Control for a Type Movemaster-EX Robot |
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| Hu Jianyuan Huang Xinhan Chen Jinjiang.Zero-Force Control for a Type Movemaster-EX Robot[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,1993(6). |
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| Authors: | Hu Jianyuan Huang Xinhan Chen Jinjiang |
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| Institution: | Hu Jianyuan Huang Xinhan Chen Jinjiang |
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| Abstract: | If the end-effector interacts with the external environment during robot operation, the force feedback from the sensor should be introduced into the control system. The force signals are measured with a 6-D wrist force type HUST-FS6 sensor and compliant tracking control experiments (zero-force tracking) are performed with a 5-joint type Movemaster-EX manipulator by which the force signals are converted into position signals. The results show that the control algorithm used is simple and effective and it is not necessary to measure the open loop stiffness of the manipulator. The peg-in-hole assembly task can be accomplished by slightly varying the control parameters. The AH-386 micro-computer is used as the host control computer and C language is used for programming. |
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| Keywords: | robot force control hybrid control end-effector zero-force control compliant tracking control |
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