智能系统学报2015，Vol.10Issue(5)：675-683,9.DOI:10.11992/tis.201411026
末端F/T传感器的重力环境下大范围柔顺控制方法
A wide range compliance control method in gravity environment based on end force/torque sensor
摘要
Abstract
To achieve robotic compliance control over a wide range under gravity, a wide range compliance control method in gravity environment based on end force/torque ( F/T) sensor was proposed, which controls the stress on manipulator' s end through a joint space position impedance control strategy. In order to remove the influence of the end' s gravity on the F/T sensor measurements, and convert the F/T measurements to the base coordinate system, a real-time compensation of the end' s gravity with manipulator kinematics was conducted, meanwhile, the manipu-lator end position and pose were fixed, by reversing the F/T in each direction under the base coordinate system to the joint space to implement compliance control through the joint position controller. The experimental results show that this method can compensate for the effects of gravity on the robotic end F/T sensor measurements in real time, so that the manipulator could comply with external force in any position or posture in gravity environment ,without the aid of any other device. This proves the effectiveness and feasibility of this method.关键词
机械臂/F/T传感器/运动学/柔顺控制/重力补偿Key words
manipulator/force/torque sensor/kinematics/compliance control/gravity compensation分类
信息技术与安全科学引用本文复制引用
张光辉,王耀南..末端F/T传感器的重力环境下大范围柔顺控制方法[J].智能系统学报,2015,10(5):675-683,9.基金项目
国家"863"计划资助项目(2012AA111004) （2012AA111004）
国家自然科学基金资助项目(61175075). （61175075）
