【摘要】 合作机器人(Cobot)是在同一作业空间内直接与人合作的机器人.为了实现 Cobot 与人合作,对 Cobot 的虚拟轨迹控制和不完全约束关节机构进行了研究.利用微分几何原理提出了 Cobot 的虚拟轨迹控制策略,建立了基于双超越离合器的不完全约束关节机构模型和关节机构的控制模型.研究结果表明,Cobot 的运动轨迹由计算机系统控制,Cobot 的被动约束特性由不完全约束关节机构实现.更多还原

【Abstract】 Cobots are robots intended for direct collaboration with a human operator in a shared workspace.In order to implementing Cobot cooperation with human virtual trajectory control strategy of Cobot was given based on differential geometric theorem.Modeling of non-holonormic constraint joint mechanism and its con- trol model based on double over-running clutches were constructed.The research results show that motion path of Cobot is controlled by computer system,and passive and constraint features of Cobot are implemented by non-holonorrnic constraint mechanism.更多还原