A Sensorless Hand Guiding Scheme Based on Model Identification and Control for Industrial Robot
A Sensorless Hand Guiding Scheme Based on Model Identification and Control for Industrial Robot
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DOI：
10.1109/tii.2019.2900119
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发表时间：
2019-02
影响因子：
12.3
通讯作者：
Shaolin Zhang;Shuo Wang;Fengshui Jing;M. Tan
中科院分区：
文献类型：
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作者：
Shaolin Zhang;Shuo Wang;Fengshui Jing;M. Tan
大多数工业机器人不能手动示教，需要通过示教挂件指定路径点。为了实现工业机器人在没有任何力传感器的情况下进行手动示教，提出了一种利用虚拟质量和虚拟摩擦力模型来减小外力估计误差和减少引导任务中干扰的方案。在这种情况下，应限制机器人末端执行器的最大速度和加速度，以确保安全。因此，允许操作者用手引导机器人。关节扭矩从电机电流获得。分析了连杆和驱动系统的惯性力和摩擦力。建立了工业机器人的非线性动力学模型，并采用非线性方法对模型参数进行了标定。参考力估计来设定虚拟摩擦力和设计力跟随控制器。因此，末端执行器可以顺从地跟随外力的方向并且抑制抖动。最后，在六自由度工业机器人上进行的实验证明了所提出的控制方案的有效性。
Most industrial robots are not capable of teaching by hand and require path points to be specified by teaching pendants. To enable the teaching of industrial robots by hand without any force sensors, this paper proposes a scheme to minimize the external force estimation error and reduce disturbance in the guiding task by using the virtual mass and virtual friction model. In this case, the maximum velocity and acceleration of the robot end effector shall be limited to ensure safety. Thus, the operator is allowed to guide the robot by hand. The joint torque is obtained from the motor current. The inertial force and friction of the links and driving systems are analyzed. The nonlinear dynamic model of the industrial robot is built and its parameters are calibrated by a nonlinear method. The force estimation is referenced to set the virtual friction and to design the force-following controller. Hence the end effector can follow the direction of external force compliantly and suppress jitters. Finally, several experiments on a six degrees of freedom industrial robot demonstrate the validity of the proposed control scheme.