Man-machine Cooperation of Building Robot Based on Interactive Force Information

摘要

Man-machine collaboration will be the main way to work with robots join in human life in the future. This article introduces the man-machine collaboration model into the curtain wall installation of current construction, aiming to establish a man-machine collaboration system that can be used in actuality. Firstly, this article establishes a whole dynamic model including operator, collaborative robot and environment, then transforms it into an equivalent two-port model. In order to analyze the operating performance of the system quantificationally, this article introduces and analyzes the transparency of the system to represent the ability the operator using tactile senses to perceive the environment through the collaborative robot. Finally, through the experiments of three kinds of typical external force, the system got the feedback data collected from the environment. The results show that the interaction controller can truly reflect the external environment acting on the end effector of the cooperative robot, which is an important reference for the operator to control the cooperative robot.