Research On Cooperative 6-DOF Robot Control System Based On Six-axis Force Sensor

Cooperative robots with Human-machine Interface and security system can cooperate with people in the absence of a guardrail to make the cooperative robot play an increasingly important role in the future ‘intelligent factory' era.Therefore,the kinematics and collision detection of the 6-Degree-Of-Freedom(6-DOF)cooperative robot were studied.And the force-compliance control system of the cooperative 6-DOF robot was developed based on the Six-Axis force sensor and validated by simulation and application.Which gives the cooperative 6-DOF robot the ability of Human-machine Interface.The force compliance control system can monitor the force control effect through the visual simulation platform,which has certain scientific significance in realizing the robot manpower control based on Virtual Reality(VR).The specific research contents are as follows:Firstly,the positive and inverse solutions of the kinematics of the cooperative 6-DOF robot are studied,and the kinematics positive solution and inverse solution result are deduced.The correctness of the result is verified by simulation.The trajectory planning was carried according to another researcher's theory and validated by simulation.These lay the foundation for the following study.Secondly,a novel robot joint collision detection method was proposed from the perspective of the safe operation of the cooperative 6-DOF robot.To achieve this,the basic parameters of the bounded cylinder were defined,and a new collision detection method was proposed from the perspective of the bounded cylindrical geometric elements.The mathematical model of the collision criterion was deduced based on the basic parameters of the bounded cylinder.Then the joints and links of 6-DOF robot were simplified into bounded cylinders.In this way,a collision detection model of the cooperative 6-DOF robot is established.Finally,the dynamic relationship between the basic parameters of the joint-bounded cylinder and the joint angle of the joint was established and the collision detection of the robot was transformed into bounded cylinders collision detection of robot's collision detection model.And the effectiveness of the method was validated by simulation.Collision detection theory provides security for the study of force compliance control system.Finally,the mothod of force compliance control based on joint space was studied.Based on the cooperative 6-DOF robot,the force signal detection was carried out with the aid of the Six-Axis force sensor.The visualization force compliance control system simulation platform was developed on the platform of LabVIEW.The platform can realize the force response control response movement through the virtual cooperative 6-DOF robot according to the feedback force signal,and can provide signal monitoring and parameter adjustment.Through the simulation experiment and data analysis,the availability of force compliance control was verified.The simulation platform was applied to the reality too.Finally,a more perfect Cooperative 6-DOF Robot Force Compliance Control System was developed,which was integrated with motion control,force signal detection,data monitoring,collision detection,visualization compliance control simulation and application force compliance.