Theoretical And Experimental Research On Robot Force Teaching

Robots play an important role in the field of automated production.Teaching technology has a great impact on the performance and application of robots.so,this paper proposes a force-aware teaching technique based on a six-dimensional force sensor.The robot realizes the force analysis by sensing the traction force,and makes reasonable adjustments to the motion trajectory.The whole teaching process is divided into three parts: signal reception,control analysis,and completion of driving.The signal receiving is mainly based on the spatial three-dimensional force/torque detection of the six-dimensional force sensor,and the detected force information is sent to the robot control system.Control analysis is to analyze the force information of the feedback and solve the specific trajectory motion of the robot.The completion of the drive is a combination of motion instructions by the robot's internal programming language to achieve the final teaching movement.Establish a theoretical model of robot kinematics.The kinematics of robots supported by mathematical models are mainly used to analyze the positional relationship of each link of the robot and the angular variables of each joint.Through a series of equation transformation,the kinematic parameters of the robot can be obtained.Finally,the relationship between the force coordinate system of the end tool and the sixdimensional force sensor coordinate system is obtained by the force coordinate transformation method,which lays a foundation for the feedback control of the force sense teaching.Layout robot hardware system.Explain the overall structure and working principle of force consciousness teaching,and introduce the components of the hardware experiment platform,including the actuator IRB2600 robot,control cabinet,force information acquisition system and human-computer interaction system.Design robotic force sensing teaching control system.On the one hand,gravity compensation is performed on the end of the tool itself.On the other hand,the force motion of the end of the robot operation space and the joint space angle variable are algorithmically derived,and the conversion relationship between the force and the motion trajectory is obtained,thus realizing the robot force perception teaching feedback control.And verify the rationality through the joint simulation of MATLAB and Adams.Finally,the control drive is completed through its own programming environment,and the robot force perception teaching trajectory movement is realized.Figure 46;Table 2;Reference 54.