Research on Collaborative Robot Force Compensation Based on Kane’s Dynamics

Abstract:

A force compensation algorithm based on Kane dynamics was proposed to address the problem of insufficient use of six-dimensional force sensors for robot force compensation algorithms. This method converted dynamic forces into generalized resultant forces that required compensation, and derived force compensation in a unified manner to compensate for the zero position value of the robot sensor in real-time without external forces. Firstly, the Kane’ s dynamic equation of the articulated collaborative robot was established and the velocity recursive algorithm between each joint was derived. Then, a joint type collaborative robot force compensation model was established, the force compensation algorithm was derived, and the expression for force compensation was obtained. Finally, the AUBO-I5 articulated collaborative robot was used for simulation and experimental verification, and the simulation, experimental, and theoretical results were compared, verified, and error were analyzed to obtain the force compensation comparison curve and error analysis results of the base six-dimensional force sensor during the robot??s motion process. The results showed that the comparison curves of the three directions of force / torque were consistent, and the relative error was below 5. 6% , which verified the correctness of the theoretical analysis of the force compensation algorithm. The results can provide a solid theoretical basis and valuable reference for future research in the fields of human-machine collaboration and collision detection.