在低力应用中对UR5e协作机器人力量控制的实验评估
Roman Trochimczuk1, Adam Wolniakowski1, Michał Ostaszewski1
1Department of Automatic Control and Robotics, Faculty of Electrical Engineering, Bialystok University of Technology, 15-351 Bialystok, Poland.
Sensors (Basel, Switzerland)
|March 14, 2026
概括
这项研究评估了UR5e cobot的低力模式稳定性 (1-10N). 结果揭示了控制器的最佳设置,用于在各种工作空间位置精确控制力,这对于微妙的机器人应用至关重要.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统工程 控制系统工程
- 实验力学 实验力学 实验力学
背景情况:
- 协作机器人 (cobots) 越来越多地用于需要精确的力量控制的任务.
- 在低力范围 (1-10N) 中,UR5e cobot 的强力模式稳定性对于组装,抛光和人机交互等应用至关重要.
- 精确的力传感和控制对于复杂环境中协作机器人的安全和高效运行至关重要.
研究的目的:
- 通过实验评估UR5e cobot在低力范围 (1N到10N) 的强力模式的稳定性和准确性.
- 调查工作空间位置,力级和控制器参数对协作机器人的力控制性能的影响.
- 在实际应用中开发模型以优化UR5e cobot的低力控制.
主要方法:
- 使用配备了OptoForce Hex六轴力/扭矩传感器的UR5e协同机器人进行实验验证.
- 使用专有LabVIEW软件和定制设计的测试站进行数据采集.
- 三次实验测试,不同的工作空间位置,力设定点和控制器参数 (增压和减压).
主要成果:
- 当使用10N设定点时,UR5e协同机器人展示了从8.95N到13.26N的平均输出力.
- 与设定力值的平均偏差约为0.38N,在工作空间限制处的最大偏差为0.61N.
- 针对不同的力范围 (1-4N,5-7N,8-10N) 确定了控制器的最佳设置 (增强和减弱).
结论:
- UR5e cobot 的力量模式在 1-10 N 范围内表现出可测量的稳定性和准确性,性能受位置和控制器设置的影响.
- 识别的控制器参数为提高低力应用的精度提供了基础.
- 开发的多项式回归模型可以帮助在实际决策中,在低力场景中部署UR5e cobot.
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