Cabo Robot Hybrid Control Of Force And Trajectory

To implement the task of washing windows, a control scheme that considers both position and force is proposed to solve the problem. In this way, the robot manipulator must exert a reasonable force on the window to make the window cleaner and move on the surface of the window as fast as possible, but cannot break the window. Firstly, in this paper, the structure of the general industry robots is described, the conception of force control is introduced and the ways to control force are suggested. Then we choose PUMA560 as the robot model to wash the window and describe the robot in the space using the method of D-H. Next, according to the task, we designed the trajectory of PUMA560 robot on the surface of the window. After that, the dynamic equations of PUMA560 robot are derived through Lagrange method. To fulfill the task of washing the window, we should not only control the trajectory of PUMA560 robot on the surface of the window, but also control the force produced by the contact of both the end effecter of the PUMA560 robot and the surface of the window. In this paper, we turn the force control into the correction and the adjustment of the position control, so we can control the force and the position of PUMA560 robot simultaneously and make the robot wash the window better. At last, we use the software of MATLAB5.3 solve the problem and simulate the result.