Research on Cooperation Control of Lightweight Manipulator

Human-robot collaborative control of lightweight manipulator is an effective means for the development of human friendly robot. First, in view of the commonality and key requirements of human-robot collaboration function, the control system architecture and design method of cooperative robot with four-layer functional architecture are put forward, and analysis the kinematics and dynamics control method of lightweight manipulator. Then, in order to solve the high-precision multi-joint synchronous motion control of the low-rigidity lightweight manipulator, a method of synchronizing network distributed clock based on EtherCAT real-time Ethernet is proposed, and then puts a method of building experiment of half-physical joint simulation platform. In order to solve the problem of kinematic man-machine cooperative control of lightweight robotic manipulators, a simplified method of manipulator dynamics adapting to the mass characteristics of 6-DOF lightweight robotic manipulators is proposed. Based on this, a study on the joint moment estimation method is proposed, A Simplified Calculation Method of External Torque in Joint Space of Lightweight manipulator. In the end, a dynamic drag control experiment of a lightweight robotic arm was designed to verify the correctness of the system method.