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Zero-force control method and system for robot

A zero-force control and robot technology, applied in the field of zero-force control, can solve problems such as inability to apply robots

Active Publication Date: 2016-04-13
SHENZHEN INOVANCE TECH +1
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This scheme does not need to know accurate acceleration information, but because it directly controls the torque, it poses a great challenge to the stability design of the system. big robot

Method used

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Embodiment Construction

[0059] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific implementation manners of the present invention will now be described in detail with reference to the accompanying drawings.

[0060] like figure 1 Shown is the flowchart of the robot zero force control method of the present invention;

[0061] The robot zero-force control method of the present invention includes:

[0062] S1. Establish a robot dynamics model based on inertial force, centrifugal force, Coriolis force, viscous friction force, static friction force, and gravity;

[0063] S2. Based on the dynamic model of the robot and the feedback data, calculate the external force moment of each joint of the robot;

[0064] S3. Calculate the speed command according to the external force torque calculated in step S2;

[0065] S4. Calculate the position command according to the speed command and the position feedback.

[0066] Wherein, the kin...

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Abstract

The invention relates to a zero-force control method and system for a robot. The zero-force control method comprises the following steps: S1, a robot kinetic model is built on the basis of inertia force, centrifugal force, coriolis force, viscous friction force, static friction force and gravity; S2, external force moments of all the joints of the robot are calculated on the basis of the robot kinetic model and feedback data; S3, a speed command is calculated according to the external force moments calculated in the step 2; and S4, a position command is calculated according to the speed command and position feedback. Through the building of the kinetic model, the external force moments of all the joints can be directly calculated, without the assistance of a power-assisted sensor or a torque sensor, so that the cost and the complexity of the system are reduced; by the adoption of a position command control manner instead of a direct torque control manner, the design difficulty in the safety and the stability of the system is reduced; and in addition, since inertia force is considered when the external force moments are calculated, the zero-force control method and system can be suitable for robots with greater dead weight.

Description

technical field [0001] The invention relates to the field of zero-force control, in particular to a robot zero-force control method and system. Background technique [0002] At present, the teaching process of industrial robots mainly depends on the teaching pendant. This teaching method has the characteristics of low work efficiency, cumbersome and unintuitive process, and requires high knowledge level of operators. Therefore, it is necessary to design an intuitive and efficient robot direct teaching system. The development of direct teaching system depends on the realization of zero force control technology. At present, there are mainly two implementation methods of zero-force control technology: zero-force control technology based on position control and zero-force control technology based on direct torque control. [0003] The zero-force control technology based on position control needs the help of force / torque sensors to measure the external force applied to each joi...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/1633
Inventor 杨磊屈云飞
Owner SHENZHEN INOVANCE TECH
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