Research On Robot Control Method Based On Six-Dimensional Force Sensor

With the rapid development of the robot technology level,the functional requirements of the robot are not only limited to a single repetitive work,but also tend to be more complicated.In order to realize the collaborative work between human and robot and improve the flexibility of the robot to contact environment,this paper studies the industrial robot control method based on six-dimensional force sensor,and uses a new gravity compensation method to compensate the error of the six-dimensional force sensor.Focusing on solving information processing,force information collection and human-computer interaction,and then developing a six-dimensional force sensor based industrial robot force control teaching system.Firstly,this article uses the Smart300 six-dimensional force sensor to accurately obtain the external contact force information of the robot end.Considering that the position and attitude of the sensor in the force-controlled teaching system is constantly changing,it will affect the perceptual accuracy of the force information.Therefore,based on many sensor error compensation methods,this paper proposes a method of using the least square method to convert each coordinate.It is suitable for the gravity compensation method of the force control teaching system,and experiments are carried out to verify its validity and feasibility.Secondly,the JLRB20 industrial robot is used as the actuator.Based on the traditional force position control theory,A robot force/position control method is proposed.It using the six-dimensional force sensor to link the parameters of external force and motion of the robot.which enhances the robot's compliance with the contact environment and improves the tracking effect of the robot control system's external force information.Finally,C++/MFC programming is used to solve the problem of information interaction in Visual Studio 2015.Then the prototype system of the force control teaching system is designed and optimized,and the human-computer interaction interface of the system is optimized.The force control teaching system is used to test the robot control method,which proves its effectiveness and feasibility.