基于CAN总线的力传感器与机器人控制器通讯设计

研磨机器人系统中,研磨头与工件的接触力是保证加工精度,进行机器人力控制的一个重要因 素。采用 CAN 通讯可以确保力传感器准确、及时地把力信息传送给控制器进行力控制。本文 给出了6维腕力传感器与机器人控制器通讯的硬件结构,制定了可靠的通讯协议,实现了力信 息的正确读取,为研磨机器人控制系统获得可靠的力信息提供了一种新的解决方案。

In the polishing robot system, the contact force between polishing tool and workpiece is an  important factorin implementing force control and ensuring machining accuracy. Making use of communication based on CAN force sensor can send contact force information to robot controller for force control immediately and accurately. The hardware structure of communication between the wrist force sensorof 6-dimension and robot controller is given  in this article, reliable communication protocol is made and force feedback information is accurately acquired. Results illustrate that this new solution for acquiring accurate force   information in polishing robot system is reliable.

中科院知识创新工程重大资助项目(KGCX-SW-15)