摘要
针对在工业化人机示教场景下,考虑人机交互的柔顺性与安全性需求,提出了一种基于变参数导纳控制的机器人直接示教方法。首先对示教系统的组成结构进行说明,再基于导纳控制原理以及交互柔顺性与安全性需求设计变参数导纳控制器,最后通过路径拖动示教实验来验证所设计的控制器的有效性。结果表明,提出的控制方法具有较好的准确性,并能保证转向时的安全性。
Considering the flexibility and safety requirements of human-computer interaction in industrial human-machine teaching scenarios,a direct teaching method for robots based on variable-parameter admittance control is proposed.Firstly,the composition and structure of the teaching system is explained;then,based on the admit-tance control principle and the requirements of interactive compliance and safety,a variable-parameter admittance controller is designed;The results show that the proposed control method has better accuracy and guarantees the safety.
作者
陈成
庄正浩
CHEN Cheng;ZHUANG Zhenghao
出处
《计量与测试技术》
2022年第8期64-66,70,共4页
Metrology & Measurement Technique
关键词
机器人示教
变参数导纳控制
柔顺控制
robot teaching
variable-parameter admittance control
compliance control
