CAD-based robot programming: The role of Fuzzy-PI force control in unstructured environments

摘要

More and more, new ways of interaction between humans and robots are desired,something that allow us to program a robot in an intuitive way, quickly andwith a high-level of abstraction from the robot language. In this paper ispresented a CAD-based system that allows users with basic skills in CAD andwithout skills in robot programming to generate robot programs from a CAD modelof a robotic cell. When the CAD model reproduces exactly the real scenario, thesystem presents a satisfactory performance. On the contrary, when the CAD modeldoes not reproduce exactly the real scenario or the calibration process ispoorly done, we are dealing with uncertain (unstructured environment). In orderto minimize or eliminate the previously mentioned problems, it was introducedsensory feedback (force and torque sensing) in the robotic framework. Bycontrolling the end-effector pose and specifying its relationship to theinteraction/contact forces, robot programmers can ensure that the robotmaneuvers in an unstructured environment, damping possible impacts and alsoincreasing the tolerance to positioning errors from the calibration process.Fuzzy-PI reasoning was used as a force control technique. The effectiveness ofthe proposed approach was evaluated in a series of experiments.