Stäubli RX-160 manipülatörünün kuvvet kontrolü

Today, humans are started to be replaced by robots in many areas. Work speed and quality of robots are increasing day by day with the developing robot technologies. Robots are becoming irreplaceable components of industrial applications. With recent developments, robots can perform surgical operations and be used in space vehicles. Industrial manipulators are mostly used in applications like packing, welding, material handling and painting on a production line. While performing these tasks, manipulators have very limited interaction with the environment or none at all. The main purpose of these tasks is to follow a path in free space. Manipulators can also be used in tasks where interaction is desired. Assembling, deburring, grinding and polishing are among these tasks. However, classical motion control methods are insufficient for these tasks. The position of the manipulator and the workpiece must be known with a high precision and the environment must be modeled accurately in order to execute these tasks with pure motion control. These conditions cannot always be satisfied. If we assume a rigid manipulator and environment, a small error can cause an increase to contact forces to a point where the workpiece or the manipulator can be damaged. For this reason, we need some degree of "compliance" between the manipulator and the environment. "Compliant motion control" or "force control" can give us a better solution in cases where interaction with the environment is present. Contact forces are controlled directly or indirectly by generating proper control signals. In this thesis, two widely known force control strategies are considered: impedance control and hybrid force/position control. Impedance control can be classified as an indirect force control where errors in the motion are related with contact forces. This relation, known as mechanical impedance, has an advantage that its parameters can be adjusted to ensure a desired behavior of interaction. On the other hand, hybrid force/position control, which is classified as a direct force control, requires desired values of contact forces. In return, the controller calculates the error between the desired and feedback forces and generates a proper control signal to follow desired force trajectory. For both of the control strategies mentioned above, contact force measurements from a force/torque sensor are used. These sensor data are certainly required for hybrid force/position control. However, for impedance control, there are control schemes where force feedback is not required. The purpose of this thesis is applying different force control algorithms on Stäubli RX-160 industrial type manipulator that resides in Istanbul Technical University Mechatronics Education and Research Center. By using LLI (Low Level Interface) provided by Stäubli, control algorithms that are reported in literature can be embedded to manipulator controller and tested. LLI enables us to control all aspects to control an industrial type manipulator where we can use our own kinematic and dynamic models. This thesis consists of five chapters. In the first chapter, the purpose of thesis, technical properties of RX-160, hardware and software that are used in this study will be mentioned. In second chapter, kinematic and dynamic model of RX-160 are derived and unknown parameters are mentioned. In order to derive dynamic model of the robot, mass properties must be known. These parameters are provided by Stäubli. The spring model and friction parameters are identified in a past work and they are used directly in this thesis. In chapter three, some control methods are introduced and simulation results are shown. Trajectory planning is also mentioned in this chapter. In fourth chapter, the control methods mentioned in the previous chapter will be applied to the manipulator in real-time. The data collected from sensors are analyzed and commented. In fifth and the last chapter, all the work done throughout the thesis is summarized and suggestions are made for future works.