摘要
研究了基于机器人关节刚度模型的末端位置补偿方法,首先根据机器人搅拌摩擦焊作业工况,将运动轨迹离散为一系列位姿点,对各离散点进行下压量位置偏差补偿。然后研究机器人末端下压位移和接触压力之间的关系,并考虑机器人关节柔度变形对末端下压位移的影响,对机器人末端的顶锻压力进行均衡控制。最后对基于离线位置补偿算法的机器人力控制方法进行实验验证,结果表明,该力控制方法具有良好的实验效果。
The end position compensation method based on the robot joint stiffness model is studied.Firstly,according to the working condition of the robot friction stir welding,the motion trajectory is discretized into a series of pose points,and the position deviation compensation of each discrete point is performed.Then the relationship between the terminal downward displacement and the contact pressure is studied.Additionally,the influence of the robot joint flexibility on the amount of terminal pressure is considered,and the forging pressure at the end of the robot is stabilized.Moreover,the experimental research on the robot force control method based on offline position compensation algorithm is carried out.Finally,great experimental result is found by using the force control method.
作者
刘华春
张方
蒋祺
陈卫中
Liu Huachun;Zhang Fang;Jiang Qi;Chen Weizhong(Nanjing University of Aeronautics&Astronautics State Key Laboratory of Mechanics and Control of Mechanical Structures,Nanjing 210016,China;Kunshan Huaheng Welding Co.,Ltd.,Kunshan 215300,China)
出处
《国外电子测量技术》
2019年第8期39-43,共5页
Foreign Electronic Measurement Technology
基金
江苏高校优势学科建设工程项目资助
关键词
关节刚度
机器人搅拌摩擦焊
位置补偿
力控制
joint stiffness
robot friction stir welding
position compensation
force control
