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A Balancing Algorithm for Drag and Teach Robot

A technology of dragging teaching and robots, applied in the direction of manipulators, manufacturing tools, etc., can solve the problems of not being able to maintain the balance of the robot, and achieve the effect of improving the teaching accuracy, reducing the difficulty, and ensuring the teaching effect

Active Publication Date: 2018-07-10
EFORT INTELLIGENT EQUIP CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

After opening the motor brake, the second axis and the third axis of the robot fall, and the balance of the robot cannot be maintained.

Method used

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  • A Balancing Algorithm for Drag and Teach Robot
  • A Balancing Algorithm for Drag and Teach Robot
  • A Balancing Algorithm for Drag and Teach Robot

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Embodiment Construction

[0036] In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further elaborated below.

[0037] A balance algorithm for dragging and teaching robots, including static balance and dynamic balance:

[0038] (1) Static balance:

[0039] First determine the basic parameters of the robot: let par_2[1] be the basic pressure value of the second axis of the robot, par_2[2] be the static pressure value of the second axis of the robot; par_3[0] be the basic pressure value of the third axis of the robot, par_3[3 ] is the static pressure value of the third axis of the robot; robot.axis[2] is the angle value of the second axis of the robot, and robot.axis[3] is the angle value of the third axis of the robot.

[0040] The static pressure compensation value set_bal_ax2 of the second axis of the robot in different poses is calculated by formula (1), and the static pressure compensation va...

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Abstract

The invention relates to a balance algorithm for dragging a teaching robot. The balance algorithm comprises three parts, namely static balance, dynamic balance and error control, wherein a static balance algorithm can be used for computing static pressure compensation values set_bal_ax2 of a second robot axis in different poses and static pressure compensation values set_bal_ax3 of a third robot axis in different poses; a dynamic balance algorithm is divided into a second axis algorithm and a third axis algorithm for the teaching robot; a closed-loop control system composed of signal input, a proportionality coefficient K(.), a solenoid valve and signal output is adopted in error control, and by adjusting the values of parameter gain K and the proportionality coefficient K(.), the speed continuity of robot dragging is met and meanwhile the trajectory accuracy of the robot is guaranteed. According to the balance algorithm provided by the invention, space is divided into different quadrants, and compensation values are computed by algorithms of the different quadrants to guide the support strength of air cylinders for the second axis and the third axis, so that the difficulty in manually moving a mechanical arm during a teaching process is reduced, the improvement of teaching accuracy is facilitated, and the teaching effect is guaranteed.

Description

technical field [0001] The invention relates to the technical field of industrial robot control methods, in particular to a balance algorithm for dragging and teaching robots. Background technique [0002] With the development of industrial automation, the field of use of industrial robots is increasing, and the advanced technology of robots is constantly improving and applied in the actual field. As the application of robots becomes more and more widespread, the requirements for the trajectory of robots are getting higher and higher, which requires more professional teaching engineers to carry out on-site teaching through hand-held teaching pendants. This teaching method is not only inefficient, but also Time-consuming and labor-intensive, it is easy to cause errors in the teaching program. At present, people often use a drag teaching method to realize the free dragging of the robot, and automatically record the trajectory of the robot, which greatly improves the efficienc...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/00
CPCB25J19/0012B25J19/007
Inventor 贾时成许礼进曾辉游玮肖永强柳贺李伟
Owner EFORT INTELLIGENT EQUIP CO LTD
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