Research On Actuation And Control Technology Of Insufficient Power Cobot

Cobots (collaborative robots, for short cobots) are a kind of robots intended for direct physical collaboration with a human in a shared workspace. They take the advantages of tranditional robots such as higher task precision, better bearing loads capacity, and meantime still apply the superiorities of the operator such as high intelligence, vision and haptic capacities, and dexterity and so on. Cobots makes it possible for a human operator to collaborate with robots in a shared workspace. They can relieve of task intensity, improve task precision and production efficiency. The markedly features of cobots are passive and constraint charactristics, whose joint motors can't actuate joints move, and only applied to modify the ratio of velocities between the joints. As such the trajectory control of cobot endpoint is implemented. The operator supplies the power of cobot moving, and path constraint control is carried out by cobot control system of cobot. Cobots possess widely application foreground such as "Intelligent Assist Devices"(IADs), surgery operations, telepresence of virtual reality and teleoperation, and daily life and so on.The research work comes from a project funded by NSFC (National Natural Science Foundation of China), which is "The research of key technology for passive collaborative robot (cobot) ". The main objective is to study on actuation and control technology of cobot in insufficient power situation. It can supply theory basis for developing new cobot productions and spreading. The main contents in the paper include dynamics characteristic of insufficient power cobot, virtual trajectory control strategy and control strategy of micro operation force hoisting system and so on. The prototype of the cobot is developed, and based on hard in loop simulation platform dSPACE the experiment study is completed.The paper reviews the research and progress situations of cobots domestically and abroad and then compares with mechanism features, running principles, and the concept of insufficent power cobot is put forward. And then joint mechanism features and work principle of the cobot are set forth.According to the features of cobot a trajectory planning method is put...