Industrial robot free driving teaching method based on space force information
A technology of industrial robots and teaching methods, which is applied in the direction of manipulators and manufacturing tools, can solve the problems of poor compliance, poor teaching compliance, and increased total cost, achieving low cost, simple structure, and compliance good sex effect
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[0076] Example one
[0077] In this embodiment, the installation of the six-dimensional force sensor of the present invention, the simulation model of the object dragging by hand, the mathematical model of the rotational speed of the attitude angle, and the adjustment law of the teaching compliance are described in detail.
[0078] (1) Installation of six-dimensional force sensor
[0079] In order to reduce the cost and improve the flexibility of teaching, the present invention installs a six-dimensional force sensor at the end of the robot to collect the force information of the robot (including the forces Fx, Fy, and Fz in the three axis directions of X, Y, and Z, and around the Torques Mx, My and Mz of the three axes, such as figure 2 Shown).
[0080] (2) Simulation model of dragging objects by hand
[0081] The basic idea of the algorithm proposed in the present invention is to make the end motion of the robot simulate the motion of a human pushing or dragging an object on a pla...
Example Embodiment
[0097] Example two
[0098] In this embodiment, the process of updating the translation speed of the robot is taken as an example to describe the specific implementation process of the present invention. Such as Figure 5 As shown, the process of updating the translation speed of the robot of the present invention includes the following steps:
[0099] A. Collect force information: Collect external force information through the six-dimensional force sensor, which is the data of tension or pressure Fx, Fy and Fz in 3 directions and 3 torques Mx, My and Mz.
[0100] B. Kalman filter processing of force information: filter the collected force information to obtain accurate and stable force information. ;
[0101] C. Gravity compensation for fixtures and sensors: Since the collected force information includes the gravity of the fixture and the six-dimensional sensor itself, to get the true external force information, gravity compensation is required to eliminate the fixture and the six-d...
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