TY - JOUR
T1 - A research on the control strategy of automatic charging robot for electric vehicles based on impedance control
AU - Zhang, Hu
AU - Zhu, Wenyang
AU - Huang, Yuancan
N1 - Publisher Copyright:
© Published under licence by IOP Publishing Ltd.
PY - 2022
Y1 - 2022
N2 - In this paper, we conducted a research about the automatic charging robot and develop a kinematic model for the UR5e robot based on the D-H method. And the simulation analysis of the load of the robot joint during the automatic charging gun insertion task was conducted, the robot's ability to effectively complete the task when the exceeding payload was applied was demonstrated. The force control strategy based on the impedance control and the ARCC concept is proposed. Experiments in a laboratory environment and on a Tesla model 3 electric vehicle have shown that the method is effective in achieving a soft and smooth insertion of the charging gun.
AB - In this paper, we conducted a research about the automatic charging robot and develop a kinematic model for the UR5e robot based on the D-H method. And the simulation analysis of the load of the robot joint during the automatic charging gun insertion task was conducted, the robot's ability to effectively complete the task when the exceeding payload was applied was demonstrated. The force control strategy based on the impedance control and the ARCC concept is proposed. Experiments in a laboratory environment and on a Tesla model 3 electric vehicle have shown that the method is effective in achieving a soft and smooth insertion of the charging gun.
UR - http://www.scopus.com/inward/record.url?scp=85135288650&partnerID=8YFLogxK
U2 - 10.1088/1742-6596/2303/1/012085
DO - 10.1088/1742-6596/2303/1/012085
M3 - Conference article
AN - SCOPUS:85135288650
SN - 1742-6588
VL - 2303
JO - Journal of Physics: Conference Series
JF - Journal of Physics: Conference Series
IS - 1
M1 - 012085
T2 - 2022 2nd International Conference on Artificial Intelligence and Industrial Technology Applications, AIITA 2022
Y2 - 13 May 2022 through 15 May 2022
ER -