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Alternative TitleReactive Torque Observation and Collision Protection for Clean-room Manipulator
宋吉来; 徐方; 邹风山
Source Publication计算机测量与控制
Contribution Rank1
Funding Organization国家科技重大专项(2014ZX02103005)
Keyword机器人控制 机器人动力学 碰撞保护 关节转矩控制 系统辨识
Other AbstractAn approach of robot collision protection based on reactive torque observation is presented. Reactive torque is estimated by the disturbance observer based on the model of the system, which including motor torque model and robot dynamic model. Because of the special structure and joint coupling relationship of clean—room robot, the dynamics of robot is greatly simplified, and simplified model is identified by the least squares method which improved the precision of the model. According to the torque of permanent magnet synchronous motor and dynamic of the robot, joint torque based on motor current can be get. When robot contact with the external environment, the increasing of the joint torque is the reaction torque, which is used to implement the active compliance control combined with disturbance observer and the force/position hybrid control. At last, collision protection experiment is carried out on the clean-room robot, and the experimental results verify the effectiveness of the method.
Document Type期刊论文
Corresponding Author宋吉来
Recommended Citation
GB/T 7714
宋吉来,徐方,邹风山. 洁净机器人反应转矩观测与碰撞保护研究[J]. 计算机测量与控制,2016,24(5):246-250.
APA 宋吉来,徐方,&邹风山.(2016).洁净机器人反应转矩观测与碰撞保护研究.计算机测量与控制,24(5),246-250.
MLA 宋吉来,et al."洁净机器人反应转矩观测与碰撞保护研究".计算机测量与控制 24.5(2016):246-250.
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