基于主动柔顺控制的工业机器人直接示教研究

摘要

In order to realize the function of the direct teaching of the robot, the direct teaching problem of robots was analyzed, and the direct teaching system was developed on the ER6C60. The active compliance control method based on position adjustment was used in the direct teaching system. The operator' s force could be detected by force/ torque sensor and the force signals obtained by the transformation of static force between coordinate systems were converted into the position adjustment of the robot end-effector, so it could realize the compliance tracking. The upper PC adopted network programming technology based on VC++for realizing the function of the direct teaching of the robot. At last, the effectiveness and generality of the direct teaching system was validated experimentally.%为了实现机器人的直接牵引示教功能,对机器人直接示教问题进行了研究,在ER6 C60工业机器人上开发了基于拖曳的机器人直接示教系统.机器人直接示教系统采用了基于位置调整的主动柔顺控制方法,能够通过力/力矩传感器检测操作者的示教牵引力,将力坐标变换后的力信号转换为机器人末端执行器位置的调整量,实现了机器人的顺应性跟踪控制.上位机采用基于VC++的网络编程实现了机器人直接示教功能.实验结果验证了机器人直接示教系统的有效性和通用性.