CAJ | 학술논문

为了实现机械臂重力环境下的大范围柔顺控制,提出了一种基于末端受力/力矩( F/T)传感器的重力环境下大范围柔顺控制方法,将机械臂末端力的控制以关节空间基于位置的阻抗控制策略实现. 采用基于机械臂运动学的方法对末端重力进行实时补偿,去除末端重力对F/T传感器测量值的影响,并将各方向F/T测量值转换到基坐标系下,然后根据基坐标系下各方向F/T情况,修正末端位姿,并将修正后的末端位姿反解到关节空间,通过各关节位置控制器实施柔顺控制. 实验结果表明,该方法能够实时补偿重力对机械臂末端F/T传感器测量值的影响,使机械臂在重力环境下不借助任何外部设备,实现任何末端位姿下的柔顺控制,证明了该方法的有效性和可行性.
위료실현궤계비중력배경하적대범위유순공제,제출료일충기우말단수력/력구( F/T)전감기적중력배경하대범위유순공제방법,장궤계비말단력적공제이관절공간기우위치적조항공제책략실현. 채용기우궤계비운동학적방법대말단중력진행실시보상,거제말단중력대F/T전감기측량치적영향,병장각방향F/T측량치전환도기좌표계하,연후근거기좌표계하각방향F/T정황,수정말단위자,병장수정후적말단위자반해도관절공간,통과각관절위치공제기실시유순공제. 실험결과표명,해방법능구실시보상중력대궤계비말단F/T전감기측량치적영향,사궤계비재중력배경하불차조임하외부설비,실현임하말단위자하적유순공제,증명료해방법적유효성화가행성.
To achieve robotic compliance control over a wide range under gravity, a wide range compliance control method in gravity environment based on end force/torque ( F/T) sensor was proposed, which controls the stress on manipulator' s end through a joint space position impedance control strategy. In order to remove the influence of the end' s gravity on the F/T sensor measurements, and convert the F/T measurements to the base coordinate system, a real-time compensation of the end' s gravity with manipulator kinematics was conducted, meanwhile, the manipu-lator end position and pose were fixed, by reversing the F/T in each direction under the base coordinate system to the joint space to implement compliance control through the joint position controller. The experimental results show that this method can compensate for the effects of gravity on the robotic end F/T sensor measurements in real time, so that the manipulator could comply with external force in any position or posture in gravity environment ,without the aid of any other device. This proves the effectiveness and feasibility of this method.