机器人自动摘钩系统中柔顺控制方法研究

针对货运列车摘钩自动化需求，在自主设计的摘钩机器人系统基础上，提出和应用柔顺控制算法，有效提升摘钩过程的鲁棒性，解决了由于车钩变形所导致的摘钩失败问题。具体通过对传感器零点值以及末端安装抓取机构的重力进行标定补偿，得到机器人与车钩交互的实际外力，并输入基于导纳算法的机器人控制器中，使机器人对车钩运动轨迹进行适应性调整。经过实际摘钩作业验证，相较于使用位置控制进行摘钩，该算法能有效避免车钩与机器人发生干涉，提高了摘钩的成功率。

Compliance Control in Automatic Uncoupling Robot System

Bases on the uncoupling robot system which is designed for uncoupling automation of cargo trains, a compliant control algorithm is proposed to solve the failure of uncoupling due to hook deformation. Zero value of the force sensor and the gravity of the hook pick mechanism is calibrated and compensated to obtain the actual external force of interaction with the hook, which is input into the robot controller based on the admittance control, allowing the robot to adapt to the trajectory of the hook. With actual uncoupling operation, the algorithm, compared to using position control for uncoupling, has been proven to improve the success rate of uncoupling by avoiding interference between the hook and the robot effectively.