Abstract
With the wide application of robots in the industrial field, higher requirements are put forward for the use of robots. The force information at the end of the robot is an important execution information of the robot, and the accuracy of its estimation accuracy directly affects the execution precision of the robot. Aiming at this problem, an accurate dynamic model of six-Dofs robot was established, and the torque changes under different working conditions in the process were analyzed. The dynamics simulation model of the robot was built by the co-simulation of MATLAB and Adams software. According to the collected torque information, it will be transformed into the end contact force information. The accuracy of estimating the end force can reach 98.6%.
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Yao, Z., Hu, M., Guo, Y., Wu, J., Yang, J. (2022). Research on Force Perception of Robot End-Effector Based on Dynamics Model. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13457. Springer, Cham. https://doi.org/10.1007/978-3-031-13835-5_55
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DOI: https://doi.org/10.1007/978-3-031-13835-5_55
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