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首页> 外文期刊>電気学会論文誌 D:產業応用部門誌 >Force Sensor-less Workspace Virtual Impedance Control Considering Resonant Vibration for Industrial Robot
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Force Sensor-less Workspace Virtual Impedance Control Considering Resonant Vibration for Industrial Robot

机译：考虑共振的工业机器人无力传感器工作空间虚拟阻抗控制

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摘要

The motion control paradigm provides sufficient performance in many elementary industrial tasks. However, only stiff motion the robot cannot accommodate the interaction force under constrained motion. In such situation, the robot is required to perform interaction behavior with the environment. The conventional impedance control schemes require force-sensing devices to feedback force signals to the controllers. The force-sensing device is therefore indispensable and the performance of the system also depends on the quality of this device. This paper proposes a novel strategy for force sensor-less impedance control using disturbance observer and dynamic model of the robot to estimate the external force. In motion task, the robust D-PD (derivative-PD) control is used with feedforward inverse-dynamic torque compensation to ensure robustness and high-speed response with flexible joint model. When robot is in contact with environment, the proposed force sensor-less scheme impedance control with inner-loop D-PD control is utilized. D-PD control uses both position and speed as the references to implement the damping and stiffness characteristic of the virtual impedance model. In addition, the gravity and friction force-feedback compensation is computed by the same dynamic model, which is used in external force estimation. The flexible-joint robot model is utilized in both disturbance observer and motion control design. The workspace impedance control for robot interaction with human operator is implemented on the experimental setup three-degree-of-freedom (3-DOF) robot manipulator to assure the ability and performance of the proposed force sensor-less scheme for flexible-joint industrial robot.
机译：运动控制范例可在许多基本工业任务中提供足够的性能。但是，只有刚性运动，机器人才能在受限运动下承受相互作用力。在这种情况下，需要机器人执行与环境的交互行为。传统的阻抗控制方案需要力感测设备将力信号反馈到控制器。因此，力感测设备是必不可少的，系统的性能也取决于该设备的质量。本文提出了一种新颖的无力传感器阻抗控制策略，该方法采用干扰观测器和机器人动力学模型来估计外力。在运动任务中，鲁棒的D-PD（微分PD）控制与前馈逆动态转矩补偿一起使用，以确保具有灵活的关节模型的鲁棒性和高速响应。当机器人与环境接触时，采用了带内环D-PD控制的无力传感器方案阻抗控制。 D-PD控制使用位置和速度作为参考来实现虚拟阻抗模型的阻尼和刚度特性。此外，重力和摩擦力反馈补偿是通过相同的动力学模型计算的，该模型用于外力估算中。柔性关节机器人模型用于干扰观测器和运动控制设计中。在实验装置三自由度（3-DOF）机器人操纵器上实施了用于机器人与人机交互的工作区阻抗控制，以确保所提出的柔性关节工业机器人无力传感器方案的能力和性能。

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