摘要：In order to reduce the environmental contact force and make the operation task completed successfully, the robot is frequently required with force perception and active compliance control. Based on the six-axis wrist force sensor measuring, a robot model of surface tracking motion is proposed, and its force control algorithm and experiment are studied. The measurement principle of the six-axis wrist force sensor and the inadequacy of the sensor measuring the six-dimensional force online are introduced firstly. The surface tracking motion model and its coordinate system are established. On this basis, the relationship between the pose adjustment of surface tracking motion and the measuring results of the six-axis wrist force sensor is deduced. At last, the experimental study of the surface tracking robot system that applied the force control algorithm is conducted. The experiment shows that the robot can adjust the current position and orientation in real time according to the six-axis wrist force sensor measuring, which demonstrates the feasibility of the surface tracking motion model and the correctness of the force control algorithm.
