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基于电流的机器人故障检测与安全保护研究
Alternative TitleRobot Fault Detection and Safety Protection Based on Current
宋吉来; 徐方; 邹风山
Department其他
Source Publication组合机床与自动化加工技术
ISSN1001-2265
2016
Issue7Pages:56-59
Contribution Rank1
Funding Organization国家科技重大专项:硅片集成传输系统研发和示范应用(2014ZX02103005)
Keyword故障检测 安全保护 机器人控制 动力学控制
Abstract提出一种基于电流的机器人故障检测与安全保护方法。当机器人运行中发生齿轮、抱闸等故障或与外界环境发生碰撞时,电机电流会发生突变,因此可以根据这种异常变化判断故障和碰撞的发生。通过直接检测电机电流,利用电机模型与机器人动力学模型,估计外作用力,对故障或碰撞的发生间接测量,实现保护功能。结合动力学控制、关节转矩控制,并采用硅片传输机器人进行碰撞保护实验,实际运行结果验证了该方法的有效性。
Other AbstractAn approach of robot fault detection and safety protection based on current is presented. When the robot operation, the occurrence of gear, holding brake fault or collision with the external environment, the motor current will change suddenly, so this abnormal changes can be used to determine fault and collision occurs. By directly detecting the motor current, followed by use of the motor model and the robot dynamics model to estimate external force, and indirect measuring fault or collision, collision protection can be achieved. Finally, combined with dynamics control and joint control torque, collision protection experiments are carried out on clean-room robot, and actual operating results demonstrate the effectiveness of this method.
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/18784
Collection其他
Corresponding Author宋吉来
Affiliation1.中国科学院沈阳自动化研究所
2.中国科学院大学
3.沈阳新松机器人自动化股份有限公司
Recommended Citation
GB/T 7714
宋吉来,徐方,邹风山. 基于电流的机器人故障检测与安全保护研究[J]. 组合机床与自动化加工技术,2016(7):56-59.
APA 宋吉来,徐方,&邹风山.(2016).基于电流的机器人故障检测与安全保护研究.组合机床与自动化加工技术(7),56-59.
MLA 宋吉来,et al."基于电流的机器人故障检测与安全保护研究".组合机床与自动化加工技术 .7(2016):56-59.
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