基于实时力控制的装配机器人系统开发

摘要

针对装配机器人全空间作业任务需求，研究了基于实时力控制的装配机器人系统开发。设计并使用了六维力传感器与KUKA机器人控制器实时通信接口，并在此基础上开发实现了机器人插孔装配作业控制软件，采用重力补偿与柔顺力控算法，实现了机器人主动柔顺的插孔作业控制。机器人全空间插孔作业实验结果验证了系统的有效性。%An assembly robot system and control software with real time force control is presented in this paper,aiming at whole space assembly task with robot manipulation.The communication interface between 6-D force/torque sensor and KUKA robot control er is designs and the software to control assembly task developed.A typical active compliant assembly process control is achieved by the software for peg-in-hole operation.