Research On The Design Of Compliant Manipulator And Key Technologies Of Control

With the development of industrial robotics,the requirements for the collaborative robots draw more and more attentions in recently years.In order to realize the cooperation between the robot and the human,it is essential to develop a new robot control mode from single position trajectory control to force and position cooperative control,the key technology of which is the compliance control technology.With the support of the key research and development funding project in Shaanxi province "The key technologies of compliant operation for industrial robots",this paper mainly studies the mechanical structure design,kinematics and dynamics modeling and control system construction of compliant control robot,the research in this thesis is meaningful for the engineering applications.The main contents of this paper are as follows:Based on the functional requirements,the design method of manipulator configuration with redundant degree of freedom(DOF)is studied and a manipulator body with 7 DOF is constructed.The component design,mechanical calculation,motor selection and other key issues were analyzed,and the mechanical construction is analyzed and checked by using the software ANSYS.The kinematic model of the manipulator are established through D-H method.The functions of forward and inverse kinematics are derived and the Jacobian matrix describing the velocity mapping from joint space to operation space is established.And the Dynamic model is established based on the Lagrange method.The property of the developed manipulator is simulated,which is the basis for the motion control and trajectory planning.A semi-physical simulation system "Speedgoat,is chosen as the control system,and the control module is designed by using the software MATLAB Simulink to realize the motion control and state feedback of the manipulator.By using Simulink Real-time Explorer,the human-computer interaction interface of the manipulator is designed,which realizes the display of information(the state,coordinate position,ete),data acquisition and operations of motion control.It lays a foundation for the follow-up study of compliance control algorithm.The motion control of the manipulator is experimented in this paper.Through the experiments of linear and arc motion control of the manipulator,the trajectory curve of manipulator and the motion curve of each motor are obtained,which verifies the correctness of the research in this paper.The main factors which affect the motion accuracy and stability of the manipulator,friction force are also studied.By identifying the friction force,the friction model of the system is established,and the friction compensation is realized by speed feed-forward.By using this friction compensation algorithm,the reverse jump caused by friction is reduced from 0.07 degree to 0.05 degree.These studies improve the accuracy and stability of the manipulator motion.In this thesis,a prototype of compliant manipulator is developed.The forward and inverse kinematics algorithm and the basic motion control algorithm of the manipulator are designed,and the control system of the manipulator is constructed.And the human-machine interaction interface is established.Furthermore,the motion control of the robot is realized,and the accuracy and stability of motion are improved by friction compensation.This paper lays a foundation for further research on the compliant control strategy of the manipulator.