CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
A Sensorless Hand Guiding Scheme Based on Model Identification and Control for Industrial Robot
Zhang SL(张少林)1,2; Wang S(王硕)1,2,3; Jing FS(景奉水)1,2; Tan M(谭民)1,2
Source PublicationIEEE Transactions on Industrial Informatics
2019
Issue1Pages:1
Contribution Rank1
Abstract

Most industrial robots are not capable of teaching by hand and require path points to be specified by teaching pendants. To enable the teaching of industrial robots by hand without any force sensors, this paper proposes a scheme to minimize the external force estimation error and reduce disturbance in the guiding task by using the virtual mass and virtual friction model. In this case, the maximum velocity and acceleration of the robot end-effector shall be limited to ensure safety. Thus, the operator is allowed to guide the robot by hand. The joint torque is obtained from the motor current. The inertial force and friction of the links and driving systems are analyzed. The nonlinear dynamic model of the industrial robot is built and its parameters are calibrated by a nonlinear method. The force estimation is referenced to set the virtual friction and design the force following controller. Hence the end-effector can follow the direction of external force compliantly and suppress jitters. Finally, several experiments on a six-degree-of-freedom industrial robot demonstrate the validity of the proposed control scheme.

KeywordIndustrial Robot Dynamic Model Parameter Calibration human-Robot Interaction Virtual Friction
Indexed BySCI
Language英语
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/23679
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorWang S(王硕)
Affiliation1.中国科学院自动化研究所
2.中国科学院大学
3.中国科学院脑科学与智能技术卓越创新中心
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Zhang SL,Wang S,Jing FS,et al. A Sensorless Hand Guiding Scheme Based on Model Identification and Control for Industrial Robot[J]. IEEE Transactions on Industrial Informatics,2019(1):1.
APA Zhang SL,Wang S,Jing FS,&Tan M.(2019).A Sensorless Hand Guiding Scheme Based on Model Identification and Control for Industrial Robot.IEEE Transactions on Industrial Informatics(1),1.
MLA Zhang SL,et al."A Sensorless Hand Guiding Scheme Based on Model Identification and Control for Industrial Robot".IEEE Transactions on Industrial Informatics .1(2019):1.
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