Fine-Motion-Control Method for Realizing High-Accuracy and High-Speed Contact Motion of Industrial Robots by Employing Sensorless Force Control
Fine-Motion-Control Method for Realizing High-Accuracy and High-Speed Contact Motion of Industrial Robots by Employing Sensorless Force Control
复制标题
采用无传感器力控制实现工业机器人高精度、高速接触运动的精细运动控制方法
DOI：
10.1541/ieejias.132.322
复制
发表时间：
2012
影响因子：
--
通讯作者：
T. Miyazaki
中科院分区：
文献类型：
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作者：
Naoki Shimada;T. Yoshioka;K. Ohishi;T. Miyazaki
本文提出了一种新的精细运动控制方法，以实现高精度和高速接触运动的工业机器人采用无传感器的力控制。今天，虽然工业机器人在现代工业社会中已经变得相当重要，但它们的功能是有限的。一个典型的有限功能是在制造业中使用的机器人的定位运动控制。接触运动是几乎所有新应用所必需的。在这项研究中，通过采用所提出的运动控制，平滑和快速的接触运动的工业机器人是通过使用无传感器的I-P（积分比例）力反馈控制器实现的。所提出的方法简单有效，同时考虑了机器人的惯性和I-P力控制器的行为。在实验中，一个三自由度的机器人被带到接触的对象（混凝土块或橡胶板）的I-P力控制使用所提出的方法。此外，在实验中，机器人的末端执行器的运动被认为是。通过六维力传感器和加速度传感器的接触运动实验，验证了该方法的有效性。
This paper proposes a new fine-motion-control method for realizing high-accuracy and high-speed contact motion of industrial robots by employing sensorless force control. Today, although industrial robots have become considerably important in the modern industrial society, their functions are limited. A typical limited function is the positioning motion control of robots used in the manufacturing industry. Contact motion is necessary for almost all new applications. In this study, by employing the proposed motion control, smooth and quick contact motion of industrial robots is realized by using a sensorless I-P (Integral-Proportional) force feedback controller. The proposed method is simple and effective, takes into account both the inertia of a robot and the behavior of the I-P force controller. In the experiments, a three-degree-of-freedom robot is brought into contact with an object (a concrete block or a rubber board) by the I-P force control using the proposed method. Further, in the experiment, the motion of the robot's end-effector was considered. The validity of the proposed method is confirmed by using a six-axis force sensor and an acceleration sensor in the contact motion experiments.
使用二惯性共振机械臂关节扭矩传感器进行控制-
DOI：
--
发表时间：
2004
期刊：
Transactions of the institute of Electrical Engineers of Japan, Series D, (in Japanese) Vol.124, No.10
影响因子：
--
作者：
N.Takesue;J.Furusho;K.Fujinaga
通讯作者：
K.Fujinaga