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Force/Torque Sensorless Compliant Control Strategy for Assembly Tasks Using a 6-DOF Collaborative Robot
- Source :
- IEEE Access, Vol 7, Pp 108795-108805 (2019)
- Publication Year :
- 2019
- Publisher :
- IEEE, 2019.
-
Abstract
- The flexibility of the robot assembly process is critical, and a robot assembly system that is not flexible may damage the workpieces. Most researchers make the assembly process flexible by installing a six-dimensional force/torque sensor at the end of robots, but doing so will result in an increase in the costs of the robotic assembly system. To this end, this paper proposes an external force/torque calculation algorithm based on dynamic model identification to replace the six-dimensional force/torque sensor; the algorithm can reduce the costs while achieving a flexible assembly. In this paper, the impedance model of the environment and the dynamic model of the robot with friction are unified. Based on the unified model, the virtual contact surface is proposed to optimize the assembly. To ensure the accuracy of the assembly, the compliant control method of this paper uses the PD-based position control as the control inner loop and the impedance control as the control outer loop. To verify the accuracy of the compliant control method, a 6-DOF series collaborative robot which is developed in our laboratory is used to complete the peg-in-hole assembly experiment. The experimental results show that the algorithm has good flexibility and positional accuracy.
- Subjects :
- 0209 industrial biotechnology
Collaborative robot
General Computer Science
Computer science
02 engineering and technology
Computer Science::Robotics
020901 industrial engineering & automation
0202 electrical engineering, electronic engineering, information engineering
model identification
Torque
Torque sensor
General Materials Science
Electrical and Electronic Engineering
flexible assembly
Inner loop
Flexibility (engineering)
compliant control
virtue contact surface
General Engineering
System identification
Process (computing)
Control engineering
impedance control
Impedance control
Robot
020201 artificial intelligence & image processing
lcsh:Electrical engineering. Electronics. Nuclear engineering
lcsh:TK1-9971
Subjects
Details
- Language :
- English
- ISSN :
- 21693536
- Volume :
- 7
- Database :
- OpenAIRE
- Journal :
- IEEE Access
- Accession number :
- edsair.doi.dedup.....22d18aa17ccb0af49f9b1fc9a4279e8c