电子测量与仪器学报

张春涛,王勇,李家旺.基于摩擦模型的机器人力 / 位安全控制方法研究[J].电子测量与仪器学报,2021,35(9):19-26

基于摩擦模型的机器人力 / 位安全控制方法研究

Research on robot force / position safety control method based on friction model

DOI：

英文关键词:LuGre friction model kinetic model force / position control collision detection

基金项目:国家自然科学基金（U1713210）项目资助

作者	单位
张春涛	1. 合肥工业大学机械工程学院
王勇	1. 合肥工业大学机械工程学院
李家旺	2. 北京灵思创奇科技有限公司

Author	Institution
Zhang Chuntao	1. College of Mechanical Engineering, Hefei University of Technology
Wang Yong	1. College of Mechanical Engineering, Hefei University of Technology
Li Jiawang	2. Beijing Lingsichuangqi Technology

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中文摘要:

针对机器人力/ 位控制应用的安全问题,提出一种基于动力学模型的快速实用机器人碰撞检测算法。首先,设计机器人力/ 位安全控制方案,建立基于动力学的碰撞检测数学模型;然后,基于静态 LuGre 摩擦模型辨识和补偿机器人关节摩擦力,设计简化的机器人力/ 位控制碰撞检测模型;最后,以轻型工业机械臂为实验平台,让机器人执行力/ 位控制与人类发生碰撞以验证算法的有效性。实验结果表明,提出方法可检测机器人各连杆发生 4 N·m 以上的异常碰撞,能够有效地实现机器人力/ 位安全控制,具有一定的工程参考价值。

英文摘要:

Aiming at the safety problem of robot force / position control application, a fast and practical robot collision detection algorithm based on a dynamic model is proposed. Firstly, design the robot force / position safety control program, establish a dynamics-based collision detection mathematical model. Then, based on the static LuGre friction model to identify and compensate the robot joint friction, design a simplified robot force / position control collision detection model. Finally, using a light industrial robotic arm as an experimental platform, the robot executes force / position control to collide with human to verify the algorithm. The experimental results show that the proposed method can detect abnormal collisions of more than 4 N·m between the connecting rods of the robot, and can effectively realize the safety control of the robot force / position, which has a certain engineering reference value.

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