PUMA760切割作业力与位置混合控制

本文介绍在 PUMA760 上实现了的切割作业控制系统。我们在 PUMA760 控制系统中引进了力传感器信号,加入了力控制算法,通过调整机器人手部位置,控制机器人与环境物体间的相互作用力。在 VAL 系统中加入了根据传感器信号动作的指令,实现了一种机器人力与位置的混合控制。用扩充后的 VAL 系统编程,成功地使 PUMA760完成了多种材料的切割作业。

The design and implementation of a PUMA 760 Sawing control system is pres-ented in this paper.We introduce the wrist force sensor signals into the controllerof a PUMA 760 robot and add a force control algorithm to the control system.Theinteraction force between the end effector and the environment object is controlledby adjusting the position,of the robot.Some new instructions are added to the VALsystem that can be used to control the interaction force between the saw and a work-piece and to control the position of the robot simultaneously.By programing with theextended VAL system,we have succeeded in making PUMA 760 saw up a metal stickor a wood stick.