Research On The Teaching Technology Of Robot With Six-axis Force Sensor

With the development of robot technology,especially high-end equipment manufacturing industry,complex curved surface or curve is often required for robot trajectory.The traditional teaching method cannot meet the needs of the complex industrial production.The teaching technology of robot with six-axis force sensor is proposed.It makes robot do the active compliance movement through the force feedback of sensor and give full play to its space flexibility,eventually achieve the movement effect which is consistent with the production requirements of manual operation.Therefore,the research on the teaching technology of robot with six-axis force sensor has very practical value in the field of some complex industrial production.Using the D-H method to analyze the kinematics of teaching robot,mathematics model of force teaching is set up in theory,and the force coordinate transformation formula between the sensor coordinate system and the ending tool coordinate system is derived,which lays the foundation for further study of control algorithm of force teaching.Analysis of the position transformation between robot,six-axis force sensor and its ending enforcement tool,a kind of gravity compensation algorithm based on coordinate transformation is proposed.Through the theoretical calculation and simulation analysis of the gravity compensation of six-axis force sensor in the movement of robot,curves of changing force/torque value which the gravity of ending enforcement tool acts on six-axis force sensor are obtained.The correctness of the gravity compensation algorithm is validated.Force control system of robot force teaching is designed.The control strategy of robot force teaching is proposed and the control algorithm is derived.Through applying the Adams software for simulation of robot force teaching,position and velocity curves of ending tool and velocity curves of each joint when the end of robot is under the action of external force or torque are obtained.The rationality and feasibility of the control algorithm of robot force teaching is validated.The structure of robot force teaching system is designed.The characteristics of the actuator,the internal structure and connections of control cabinet and the I/O communication interface are analyzed.Force information acquisition system which consists of six-axis force sensor,transducer,data acquisition instrument and composed of upper computer is set up.The system of robot force teaching including robot,six-axis force sensor,control cabinet and PC is realized.