REAL-TIME ROBOT MOTION PLANNING METHOD BASED ON FORCE FEEDBACK

摘要

A real-time robot motion planning method based on force feedback, which method is aimed at the problem of a mechanical arm being unable to perform smooth acceleration/deceleration motion under a relatively large cyclic posture correction quantity, and corrects an existing piecewise linear force and position control method. The method comprises: sensing an external acting force by using a six-dimensional force sensor, and acquiring a posture target correction quantity per cycle of each axis of a coordinate system; determining a posture correction quantity interpolation stride cardinal number per cycle of each axis by means of the maximum cyclic posture correction quantity increment of each coordinate axis during stable operation; and finally, approximating a cyclic posture target correction quantity of each axis by means of force and position conversion and interpolation. Oscillation caused by a change in a motion state when a mechanical arm starts or stops is prevented, and smooth motion during a force control process of the mechanical arm is realized.