Zero force control of flexible cooperative robot based on joint dual-position feedback
Zero force control is one of the core issues of the collaborative manipulator to realize the drag teaching.At present,the methods are mostly depended on the additional force/torque sensor,which can ensure the measure-ment accuracy but increase the complexity and cost of the system.A zero-force control method of flexible coopera-tive manipulator based on joint double position feedback was proposed,which could realize zero-force control of ma-nipulator without external sensors.Based on the flexible characteristics of wave generator and flexible wheel,the dynamic model of harmonic drive joint was established.With the stiffness identification method of harmonic drive joint,a torque estimation method of flexible joint based on double position feedback was established.The simplified gravity torque compensation model was established,and the joint friction torque model was improved by considering the viscous friction and Stribeck Coulomb friction in the process of joint rotation.On this basis,the joint gravity torque and friction torque compensation were realized,and the zero force control of the manipulator was realized.The prototype platform of the harmonic drive integrated joint and the manipulator was built,and the experimental research was carried out.The results showed that the proposed method could effectively realize the zero force con-trol of harmonic drive manipulator without additional force/torque sensor.
cooperative robottwo-side-position feedbackmoment patternzero force controltorque compensation
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