在人机碰撞中电流漂移的补偿
1Department of Mechanical Engineering-Engineering Mechanics, Michigan Technological University, Houghton, MI 49931, USA.
概括
这项研究开发了一个神经网络控制器,以补偿协作机器人的电流传感器漂移. 这通过减少人机碰撞时的冲击力来提高安全性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统 控制系统
- 传感器技术 传感器技术
背景情况:
- 协作机器人越来越多地用于制造业.
- 机器人中的电流传感器可以漂移,导致不准确的扭矩和力读数.
- 传感器漂移在人机交互期间构成安全风险.
研究的目的:
- 开发一种补偿工业机器人手臂中电流传感器漂移的方法.
- 为了减少人机碰撞时的冲击力.
- 量化传感器漂移对碰撞动态的影响.
主要方法:
- 一个基于神经网络的控制器被设计用于管理机器人的速度.
- 一个实验设置涉及机器人关节与生物忠实前臂模型的碰撞.
- 软力传感器测量了碰撞时的变形和接触力.
主要成果:
- 提出的方法有效地弥补了电流传感器漂移.
- 在人机碰撞模拟过程中,观察到接触力减少.
- 该研究量化了传感器漂移对碰撞行为的影响.
结论:
- 介绍了一种基于数据的方法来补偿电流传感器漂移.
- 神经网络控制器在人机器人协作系统中提高了安全性.
- 这项研究有助于实现更安全,更可靠的机器人操作.
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