| 摘要: |
| 针对复杂极限环境下的管道焊接维修,提出了一种宏-微结构的机器人遥操作方法进行遥控焊接.通过基于六维力觉传感器的力控制来实现焊前管道装配.为消除宏机器人末端的微机器人运动惯性对力控制的影响,需要补偿在机器人运动过程中微机器人产生的惯性力.研究了宏-微机器人的惯性补偿算法,进行了惯性补偿仿真试验.结果表明,该算法能够消除微机器人的惯性力,补偿最大力偏差不超过2.5 N,补偿力矩精度达到0.3 Nm,满足宏-微机器人管道遥控焊接的精度要求. |
| 关键词: 宏-微机器人 遥控焊接 力控制 惯性补偿 |
| DOI： |
| 分类号: |
| 基金项目:国家科技支撑计划项目(2012BAH28F03) |
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| Inertia compensation of macro-micro robotic remote welding for pipeline repair in nuclear environment |
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GAO Sheng1, LI Haichao2, DU Aiguo2
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1.College of Mechanical Science and Engineering, Northeast Petroleum University, Daqing 163318, China;2.State Key Laboratory of Advanced Welding and Joining, Harbin Institute of Technology, Harbin 150001, China
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| Abstract: |
| A teleoperated technology with the macro-micro-structure was proposed toperform the pipeline repair welding in the nuclear remote environment. A 6D force sensor was used to implement force control before pipeline assembly. Inertia compensation should be added to eliminate micro robot motion inertia influence. The inertia compensation algorithm and simulation experiments were studied and carried out. Simulation results show that the compensation algorithm can eliminate robot inertia force with the maximum force deviation not high than 2.5N and compensation torque deviation of 0.3Nm, which can meet the precision requirement of remote welding by macro-micro robot. |
| Key words: macro-micro robot remote welding force control inertia compensation |
