EtherCAT-based Force Compliance Teaching and Impedance Control of a 6-DOF Industrial Robotic Manipulator

• Main Authors: Chun-An Lin, 林俊安
• Other Authors: 蔡清池
• Format: Others
• Language: en_US
• Published: 2015
• Online Access: http://ndltd.ncl.edu.tw/handle/55126261674694152051

碩士 === 國立中興大學 === 電機工程學系所 === 103 === This thesis develops methodologies and techniques for impedance control and force compliance teaching of an EtherCAT-based 6-DOF industrial robotic manipulator. An EtherCAT-based control system along with a six-axis force/torque sensor and one industrial 6-DOF robotic manipulator from HIWIN is constructed in order to verify and test those proposed method. With the given mechanical structure of the HIWIN 6-DOF robotic manipulator, its forward kinematics is derived using its Denavit-Hartenberg (DH) parameters, and the inverse kinematics is presented to find all joint angles of the manipulator. A kinematics-based impedance control method is then designed and numerically verified by utilizing the developed forward and inverse kinematic equations, and PI impedance controller. A force compliance teaching method is proposed to carry out natural teaching via direct force sensing at the sixth joint when the user is moving the arm by pulling or pushing the manipulator. The effectiveness and merit of the proposed methods are well exemplified by conducting serval simulations and experimentations on the HIWIN 6-DOF industrial robotic manipulator.