Force-free control for the direct teaching of robots

被引：18
|
作者：
You, Youpeng [1 ]
Zhang, Yu [1 ]
Li, Chenggang [1 ]
机构：
[1] College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics
来源：
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2014年 / 50卷 / 03期
关键词：
Direct teaching; Force-free control; Robot; Torque compensation;
D O I：
10.3901/JME.2014.03.010
中图分类号：
学科分类号：
摘要：
For the direct teaching of robots, a torque control based force-free control algorithm is proposed. Usually, it is difficult to calculate gravity torque and friction torque from the model directly. The relationship between joint torque and rod weight, joint positions, loads, coulomb friction, viscous friction and other factors are investigated, a gravity and friction compensation algorithm by means of robot's self-measuring is proposed. The measuring program for the compensation parameters is also given detailly. The proposed compensation algorithm is verified in a self-developed robot driven by DC motors, and the experiment results show that the torque compensation is obvious and the robot teaching is easy and flexible. Compared with existing position control based force-free control, the proposed algorithm can work without multi-axis force sensor, with simple control system-architecture and low cost. Therefore, the algorithm may open up a way for the direct teaching of those robots working with various complex trajectory. © 2014 Journal of Mechanical Engineering.
引用
收藏
页码：10 / 17
页数：7
相关论文
共 10 条
  • [1] Li M., Robot, (2011)
  • [2] Kushida D., Nakamura M., Goto S., Et al., Human direct teaching of industrial articulated robot arms based on forceless control, Artificial Life and Robotics, 5, 1, pp. 26-32, (2001)
  • [3] Hu J., Huang X., Chen J., Zero-force control for a type movemaster-EX robot, Journal of Huazhong University of Science and Technology, 21, 6, pp. 135-139, (1993)
  • [4] Wu W., Zhao J., Wang X., Et al., Welding robot on-line teaching, Welding Technology, 16, 1, pp. 16-19, (1995)
  • [5] Park D., Signal processing of direct teaching data for human-robot cooperation, IEEE International Symposium on Assembly and Manufacturing, pp. 1956-1960, (2010)
  • [6] Park D., Design and analysis of direct teaching robot for human-robot cooperation, IEEE International Symposium on Assembly and Manufacturing, pp. 220-224, (2009)
  • [7] Park C., Development of direct teaching robot system, International Conference on Ubiquitous Robots and Ambient Intelligence, pp. 730-732, (2011)
  • [8] Kushida K., Flexible motion realized by forcefree control, International Conference on Robotics & Automation, pp. 2747-2752, (2001)
  • [9] Goto S., Forcefree control with independent compensation for inertia, friction and gravity of industrial articulated robot arm, International Conference on Robotics & Automation, pp. 4386-4391, (2003)
  • [10] Goto S., Forcefree control for flexible motion of industrial articulated robot arms, Industrial Robotics Theory, Modelling and Control, 30, pp. 813-840, (2006)
1