Multi-sensor Compliance Control Design for Robot Manipulator
| Autor: | Wei-Han Weng, 翁偉翰 |
|---|---|
| Rok vydání: | 2010 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 98 Traditional compliant arm control strategy is a hybrid position and force control, if there is no external force in the environment, the controller will act as position control; while the sensor detects external force acting on the arm, the controller immediately changes to the force control mode. The control system often uses a force sensor for external force measurement. Our goal is to achieve a multi-sensor compliance control algorithm. In this study, we used the accelerator and encoders which are installed on the robot arm to achieve complementary effects on information; we also especially installed a torsion-bar on the drive mechanism. Since the deformation of torsion-bar only resulted from the contact force, we could estimate the external force by measuring the deformation. The idea for design force observer to integrate sensors’ information is based on the following concepts: 1.Acceleration will change while external force acts, 2. If the torsion-bar has the same property as the spring, its deformation could help estimate force. Since the external force could be considered as a disturbance, we designed a Kalman filter as the force observer to estimate external force. In order to verify the theoretical feasibility, we develop a Matlab / Simulink model for a single arm robot simulation and physical experiments to verify the proposed approach. The simulation and experimental results show that the proposed controller has the following features: 1. correctly estimating external force; 2. can compensate or amplifiy the external force; 3) interactions with people |
| Databáze: | Networked Digital Library of Theses & Dissertations |
| Externí odkaz: |
|