Active compliance control research for robots without force sensor

被引：0
|
作者：
Song J.-L. [1 ,2 ]
Qu D.-K. [1 ,2 ]
Xu F. [1 ,2 ]
Zou F.-S. [2 ]
机构：
[1] Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang
[2] SIASUN Robot & Automation Co., Ltd, Shenyang
来源：
Dianji yu Kongzhi Xuebao/Electric Machines and Control | 2020年 / 24卷 / 08期
关键词：
Active compliance control; Collision protection; Joint torque control; Motor torque model; Robot dynamics; Torque observer;
D O I：
10.15938/j.emc.2020.08.020
中图分类号：
学科分类号：
摘要：
In order to meet the requirements of the flexibility and security of the robot system, a method of active compliance control based on motor current is proposed, and the towed teaching and collision protection experiments are carried out on the wafer handling manipulator. First, the torque model of permanent magnet synchronous motor (PMSM) was simplified by the field oriented control (FOC), and the dynamic model of robot was also greatly simplified according to the special structure and joint coupling relationship of the wafer handling manipulator. Then, the torque model of PMSM was combined with the dynamic model of the robot, and the force detection based on current model was obtained by designing the disturbance observer. Finally combining the torque observer and hybrid force/position control, the active compliance control based on motor current was designed, and the experiment on the wafer handling robot verified the effectiveness of the method. Compared with the traditional active compliance control method, the proposed method does not need additional sensors, has low cost and does not reduce the robot's own rigidity, so it has wide applicability. © 2020, Harbin University of Science and Technology Publication. All right reserved.
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页码：159 / 166
页数：7
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