【摘要】 为实现合作机器人(Cobot)的虚拟轨迹控制,提出了基于操作力的轨迹规划方法;根据操作力、期望轨迹和Cobot末端当前位置,对Cobot进行了轨迹规划,建立了Cobot的轨迹规划模型,并对Cobot跟踪直线和圆弧轨迹进行了实验研究。结果表明,基于操作力的轨迹规划方法能在人机合作的条件下使Cobot跟踪期望轨迹,且操作力的大小不影响Cobot的运动轨迹,Cobot的运动速度随着操作力的增加而增大,符合人机合作要求。基于操作力的轨迹规划模型可应用于外科手术、物料搬运和零件装配的人机合作机器人中。更多还原

【Abstract】 Cobots are robots intended for direct physical collaboration with human in a shared workspace.In order to implement virtual trajectory control of cobot trajectory planning method based on operation force was put forward,and trajectory planning of cobot was carried out according to operation forces,a desired path and current position of cobot endpoint.The trajectory planning model of cobot was built up,and experimental study of cobot following a straight line and a section of circle was completed.The experimental results show that the operation force based trajectory planning method is feasible,and it can make cobot track a desired trajectory in man-machine cooperation situations;the magnitude of operation forces has not effects on motion trajectory of cobot,and with operation force increasing the moving velocity of cobot is quickened.It meets the requirements of robot collaboration with human.The model of trajectory planning in the paper can be applied in cobots of surgery operation,material moving and part assembly.更多还原