SENSORLESS ASSEMBLY FORCE ESTIMATION METHOD OF DUAL-ARM COOPERATION ASSEMBLY ROBOT

摘要

An objective of the present invention is to provides a sensorless assembly force estimation method of a dual-arm cooperation assembly robot which estimates information for an assembly force applied to an end of a robot by software, uses an algorithm of sliding mode control with a sliding perturbation observer (SMCSPO) to estimate an assembly force only by encoder position information of a drive motor unit of the robot, and uses the estimated assembly force to prevent a slip, an imperfect defect, and damage to a part. The sensorless assembly force estimation method of a dual-arm cooperation assembly robot comprises: a step where a sliding perturbation observer of a control unit receives an encoder signal from an encoder of a drive motor unit; a step of using an algorithm of sliding mode control with a sliding perturbation observer (SMCSPO) to calculate a perturbation value by the sliding perturbation observer; and a step of removing an effect of coulomb friction or the like from the calculated perturbation value by the perturbation observer, and applying a low pass filter to resolve an error to calculate a final external force estimation value.;COPYRIGHT KIPO 2017