Sensorless friction-compensated passive lead-through programming for industrial robots
Sensorless friction-compensated passive lead-through programming for industrial robots
复制标题
DOI：
10.1109/iros.2015.7353870
复制
发表时间：
2015-12
期刊：
影响因子：
--
通讯作者：
Andreas Stolt;Fredrik Bagge Carlson;M. G. Ardakani;Ivan Lundberg;A. Robertsson;Rolf Johansson
中科院分区：
文献类型：
--
作者：
Andreas Stolt;Fredrik Bagge Carlson;M. G. Ardakani;Ivan Lundberg;A. Robertsson;Rolf Johansson
随着工业自动化程度的提高，工业机器人变得重要起来。为了在产品快速变化时也能使用机器人，编程必须快速且易于执行。实现这一点的一种方式是使用引导编程，即用户手动引导机器人。本文提出了一种无传感器的方法，从而避免了对通常昂贵的传感器的需要。该方法基于禁用低级关节控制器，并结合重力补偿。据报道，如何通过补偿摩擦来提高性能。在此基础上，提出了一种基于积分增益增加的低级关节控制器的小外力矩检测方法。使用两个不同的工业机器人对引导编程进行了实验评估。
Industrial robots are important when the degree of automation in industry is increased. To enable the use of robots also when the products change rapidly, the programming must be quick and easy to perform. One way to accomplish this is to use lead-through programming, i.e., the user manually guides the robot. This paper presents a sensorless approach, and thus avoids the need for a typically expensive sensor. The method is based on disabling low-level joint controllers combined with gravity compensation. It is reported how the performance can be improved by compensating for friction. Further, a method for detecting small external torques is described, based on the use of the low-level joint controllers with increased integral gain. The lead-through programming is experimentally evaluated using two different industrial robots.