一种估计外力矩的机器人直接示教方法
A Direct Teaching Method of Robot by Estimating External Torque
王振斌 1李笑 2武交峰2
作者信息
- 1. 广州启帆工业机器人有限公司,广东 广州 510700
- 2. 广东工业大学机电工程学院,广东 广州 510006
- 折叠
摘要
为了解决机器人直接示教灵活性、柔顺性低和成本高等问题,提出一种估计外力矩的机器人直接示教方法.基于广义动量的力矩观测器和导纳、PD控制方案,采用辨识得到的连杆重力与关节摩擦力模型,实现无力矩传感器的机器人直接示教.首先,对机器人关节进行实时的重力和摩擦力力矩补偿;然后,通过基于广义动量的力矩观测器,观测操作者拖动机器人运动的外力矩;最后,利用导纳控制,将观测的外力矩转换成关节期望运动轨迹,通过PD控制,将期望运动轨迹转化为补偿给关节的估计外力矩,从而实现机器人的直接示教.实验结果验证了该方法的有效性.研究结果可为无力矩传感器的机器人直接示教方案设计提供指导.
Abstract
To solve the problems of low flexibility and compliance and high cost of robot direct teaching,a direct teaching method of robot based on estimating external torque is proposed.Through the external torque observer based on generalized momentum and the admittance and PD control scheme,the direct teaching of the robot without torque sensor was realized,in which the model of gravity and joint friction is obtained by identification.Firstly,the real-time compensation of gravity and friction torque is car-ried out for the robot joint.Then,the external force observer based on generalized momentum is used to observe the external torque of the robot dragged by the operator.Finally,the admittance control is used to generate the expected motion trajectory of the joint according to the observed external torque,and the expected motion trajectory is transformed into the estimated external torque compensated to the joint through PD control,so as to realize the direct teaching of the robot.The experimental results verify the effectiveness of the method.The research results can provide guidance for the design of robot direct teaching scheme without torque sensor.
关键词
机器人/直接示教/力矩观测器/参数辨识/导纳控制/PD控制Key words
Robot/Direct Teaching/Torque Observer/Parameter Identification/Admittance Control/PD Control引用本文复制引用
出版年
2024
NETL
NSTL
维普
万方数据