A Sensorless Hand Guiding Scheme Based on Model Identification and Control for Industrial Robot
文献类型：期刊论文
| 作者 | Zhang, Shaolin1,2 ; Wang, Shuo1,2,3; Jing, Fengshui1,2; Tan, Min1,2
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| 刊名 | IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
 |
| 出版日期 | 2019-09-01 |
| 卷号 | 15期号:9页码:5204-5213 |
| 关键词 | Dynamic model human-robot interaction industrial robot parameter calibration virtual friction |
| ISSN号 | 1551-3203 |
| DOI | 10.1109/TII.2019.2900119 |
| 通讯作者 | Wang, Shuo(shuo.wang@ia.ac.cn) |
| 英文摘要 | 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 to 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 degrees of freedom industrial robot demonstrate the validity of the proposed control scheme. |
| WOS关键词 | FRICTION |
| 资助项目 | National Natural Science Foundation of China[U1713222] ; National Natural Science Foundation of China[61773378] ; National Natural Science Foundation of China[61421004] ; National Natural Science Foundation of China[U1806204] ; Youth Innovation Promotion Association CAS[TII-18-2937] |
| WOS研究方向 | Automation & Control Systems ; Computer Science ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000489584600034 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China ; Youth Innovation Promotion Association CAS |
| 源URL | [http://ir.ia.ac.cn/handle/173211/23679]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 通讯作者 | Wang, Shuo |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China 3.CAS Ctr Excellence Brain Sci & Intelligence Techn, Shanghai 200031, Peoples R China |
| 推荐引用方式 GB/T 7714 | Zhang, Shaolin,Wang, Shuo,Jing, Fengshui,et al. A Sensorless Hand Guiding Scheme Based on Model Identification and Control for Industrial Robot[J]. IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,2019,15(9):5204-5213. |
| APA | Zhang, Shaolin,Wang, Shuo,Jing, Fengshui,&Tan, Min.(2019).A Sensorless Hand Guiding Scheme Based on Model Identification and Control for Industrial Robot.IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,15(9),5204-5213. |
| MLA | Zhang, Shaolin,et al."A Sensorless Hand Guiding Scheme Based on Model Identification and Control for Industrial Robot".IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 15.9(2019):5204-5213. |
入库方式： OAI收割
来源：自动化研究所
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