Research On Micro Operation Force Control And Hoisting System Of Power Assist Manipulator

Hoisting system of power assist manipulator is one important part of collaborative robot. It's seriously concerned that how to enhance performance of the manipulator hoisting control effectively. Analyzing the acutualites of the development of collaborative robot and the researches on micro operation force control of hoisting system, this paper presents the designs of a new end-effector as well as researches on micro operation force control.In this paper, after anayzing detecting methods of micro operation force through the force sensor and displacement senor, a new detecting method based on straightline potentiometer is proposed. With the anaylsis of working principle of end-effector and its parameters optimized on basis of Matlab/SimMechanics, a new type of end-effector is developed. Through the end-effector, according to the micro operation force signals transformed into the velocity control order and the displacement-increment control order of hoisting system, the velocity control strategy and displacement-increment control strategy suitable for the micro operation force hoisting system are proposed. Then, the mathematic model of the hoisting system is established, and simulation anayses of the two control strategies above are carried out.The hoisting control system of the power assist manipulator adopts two-stage control structure integrated into micro control system with Atmega16L as key controller of both. The second stage collects signals from end-effector, while the first stage receives these signals from the second stage with aims to accomplish the control strategy arithmetic in order to realize move load up and down accessible for human's operation in hositing control.On the basis of dSPACE experiment platform, ControlDesk virtual platform is applied to optimize the control parameter of the drive motor. Then, for the hositing system, the experimental model of the micro operation force control is established, and, experimental researches on the two control strategies are carried on respectively. The experimental results show the velocity control strategy and displacement-increment control strategy have better performances in respect of rapidity and stability. So, if micro operation force is loaded on, the hoisting system is accessible for human's operation to move load up and down, which meets the compliance requirements of operator's hoisting load, and proves the two strategies are feasible for the micro operation force control of hoisting system as well.