| With the continuous expansion of the robot application and the increasing requirement of intelligent robot,the traditional control scheme based on position control has been unable to meet some application requirements in complex environment(grinding,assembly,rehabilitation robot),a hybrid position-force control scheme between the robot and the environment can control the robot end-effector to move along the desired trajectory,but also can keep track of control for the desired value of contact force,to achieve the compliance control of the robot in complex environment.In this paper,the general six axis series industrial robot is studied,and its kinematics and dynamics are modeled,simulated and analyzed,at the same time,the ADAMS virtual prototype of which is established.Secondly,the motion control of the robot is studied in detail,including the position control scheme and the trajectory tracking control in the joint space,the trajectory tracking scheme in the task space.The control scheme in the joint space using linear trajectory planning and T velocity planning real-time calculates joint variable interpolation values,and drives the robot by the Newton Euler algorithm calculating the driving torque of each joint.Meanwhile,The joint variable can be fed back real-time by the robot model,to achieve the purpose of tracking control;In the control scheme of the task space,the robot end pose is represented as a pair of axis angles,in addition,the attitude and position are combined into a generalized quantity,The other operations are similar to the design procedure of joint space control scheme.Then,the robot force and position hybrid control scheme is studied,which is based on the control scheme in the task space to add force control scheme,and realize the position control by selecting matrix to switch between the force and position.Finally,the effectiveness and feasibility of th ose proposed scheme are verified by MATLAB/SIMULINK and ADAMS. |
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