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基于开放式机器人力控制系统的研究
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2009-08-10
刘伟
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针对未知环境下机器人主动柔顺控制在工程中实现的问题，构造了一个开放式机器人力控制系统。对系统中硬件和软件体系结构进行了分析，结合伺服驱动器的不同控制模式，给出了一种实用的力控制硬件实现形式。实验结果表明，该系统能够满足高精度力控制操作的性能要求。
关键词：未知环境；机器人；力控制；开放式系统；
Abstract: In order to deal with force-controlled execution of active compliance control in an unknown environment, an open architecture platform of robot force control is set up. The architecture in hardware and software of force control system is discussed. According to the different modes of servo-driver, a concrete realization form of hardware for robotic force control is introduced. The force-tracking experiment results show that the system could satisfy the demand of accurate force control.
Keywords: robot; force control; open architecture system; unknown environment
关键词：未知环境；机器人；力控制；开放式系统；
Abstract: In order to deal with force-controlled execution of active compliance control in an unknown environment, an open architecture platform of robot force control is set up. The architecture in hardware and software of force control system is discussed. According to the different modes of servo-driver, a concrete realization form of hardware for robotic force control is introduced. The force-tracking experiment results show that the system could satisfy the demand of accurate force control.
Keywords: robot; force control; open architecture system; unknown environment
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