Research On Zero Gravity Operation Control Of Cobot

Intelligence Assist Device (IAD) as a new man-machine device has been developed rapidly in recent years. IAD is a passive special tasked manipulator, which can cooperate with operators in the same workspace. Its representative is Collaborative Robot (Cobot). Zero gravity operation is one of the key technology researches of Cobot.According to the development of Cobot and IAD, the component, principle and process of software and hardware design of zero gravity operation system were introduced in this paper.Chosen the frame of three-freedom degree Cobot, carried out the analysis of workspace. Introduced the component, architecture design, driving mode, modeling and simulation of zero gravity operation system, designed the control system. Zero gravity operation system adopted the digital control mode. In term of the requirement of control, this paper designed the hardware circuit basing on AVR MCU ATMEGA16, which motor driving circuit, signal collecting and handling circuit of force sensor, communicating circuit and so on.At the end of this paper introduced the experiments with Zero gravity operation system, which have tested the hardware and software of the robot and validated the performances of control system. Experiment results show that the control system of Zero gravity operation satisfies the design request, which has better stability, high controlling accuracy and well-operating capability and so on.