基于人机协作的幕墙安装机械手末端随动坐标系的解算方法

针对幕墙安装助力机械人机协作的操作特性,对一种新型的幕墙安装机械手进行了相关技术的研究。对该幕墙安装机械手进行了运动学分析,并将末端位姿实时变化的力传感器随动坐标系与机械手本体基坐标系建立了联系。提供了一种力的解算方法,并加入了重力及其力矩补偿,为幕墙安装机械手整个人机协作控制系统的搭建提供了依据。

Calculating Method of Follow up Coordinate System for Curtain Wall Installation Manipulator Based on Man machine Collaboration

Aimed at the operating characteristics with man-machine collaboration of curtain wall installation power machinery, re-lated technical research was carried out on a new kind of curtain wall installation manipulator. The kinematics analysis was carried on the curtain wall installation manipulator, and a relation was established between the follow-up coordinate system of the end of the force sensor whose pose changes with time and the manipulator base coordinate system. A calculating method of the force was provided, and the gravity compensation and its torque compensation were considered about, which provides the basis for the curtain wall installation manipulator's control system with the man-machine collaboration.