工业机器人执行圆柱形非刚性部件装配操作时的智能控制算法

IF 1.8 4区 工程技术 Q3 ENGINEERING, MECHANICAL
Mikhail Vladimirovich Vartanov, Van Linh Nguyen, Efim Alexandrovich Kogan, Van Luu Dao
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引用次数: 0

摘要

在开发机器人装配技术时,有必要使用在线控制装配过程的智能算法。迄今为止,对圆柱形非刚性部件的装配是研究较少的任务之一。我们开发了机器人装配过程中耦合阶段的数学模型,这对于识别力-扭矩传感器的信号十分必要。所获得的分析解可以确定非刚性轴在与刚性套筒耦合的两点接触过程中发生卡死的条件。根据所获得的挠度和旋转角度值,我们可以在装配操作过程中修正机器人输出链接的运动。本文提出了一个数学模型,用于解决装配过程中使用支持向量机方法确定当前接触状态的问题,该方法通过工业机器人控制系统获取位置坐标信息,并通过力矩传感器获取力信息。该算法在配有 IRC5 控制器的 IRB-140 工业机器人上进行了测试,该控制器配备了 Schunk 公司生产的 FTN-AXIA80 SI500-20 以太网力矩传感器。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

Intelligent control algorithm for industrial robots when performing the assembly operation of cylindrical non-rigid parts

Intelligent control algorithm for industrial robots when performing the assembly operation of cylindrical non-rigid parts

When developing robotic assembly technology, it is necessary to use intelligent algorithms that control the assembly process online. One of the tasks that has been little studied so far is the assembly of cylindrical non-rigid parts. Mathematical models of the coupling stages during robotic assembly have been developed, which are necessary for the identification of the signals of the force-torque sensor. The obtained analytical solutions make it possible to determine the conditions for the occurrence of jamming of the non-rigid shaft during two-point contact during the coupling of the shaft with a rigid sleeve. The obtained values of deflections and angles of rotation allow us to correct the movement of the output link of the robot during the assembly operation. A mathematical model is presented for solving the problem of determining the current contact state during assembly using the support vector machine method when obtaining information about the position coordinates by the control system of an industrial robot and forces from a force-torque sensor. The algorithm was tested on an IRB-140 industrial robot with an IRC5 controller equipped with an FTN-AXIA80 SI500-20 Ethernet force-torque sensor from Schunk.

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来源期刊
CiteScore
3.60
自引率
13.60%
发文量
536
审稿时长
4.8 months
期刊介绍: The Journal of the Brazilian Society of Mechanical Sciences and Engineering publishes manuscripts on research, development and design related to science and technology in Mechanical Engineering. It is an interdisciplinary journal with interfaces to other branches of Engineering, as well as with Physics and Applied Mathematics. The Journal accepts manuscripts in four different formats: Full Length Articles, Review Articles, Book Reviews and Letters to the Editor. Interfaces with other branches of engineering, along with physics, applied mathematics and more Presents manuscripts on research, development and design related to science and technology in mechanical engineering.
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