Feedforward torque compensating method used for industrial robot

A technology of industrial robots and compensation methods, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of large trajectory tracking error, slow response speed of the robot, and insufficient positioning accuracy, so as to reduce the following error and reduce the trajectory tracking error. , Improve the effect of positioning accuracy

Active Publication Date: 2017-01-11
SOUTH CHINA UNIV OF TECH
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AI Technical Summary

Problems solved by technology

[0003] In high-speed and high-load situations, it is difficult for a single PD feedback to meet the high-speed and high-precision control requirements of the robot. Common problems mainly include: slow response speed of the robot, large trajectory tracking error, and insufficient positioning accuracy

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  • Feedforward torque compensating method used for industrial robot
  • Feedforward torque compensating method used for industrial robot
  • Feedforward torque compensating method used for industrial robot

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Embodiment Construction

[0033] The purpose of the present invention will be further described in detail through specific examples below, and the examples cannot be repeated here one by one, but the implementation of the present invention is not therefore limited to the following examples.

[0034] A method for feedforward torque compensation of an industrial robot, comprising the steps of:

[0035] (1) According to the interpolation point queue after the interpolation operation of each motor, a cache queue is established, and the theoretical joint angular velocity and joint angular acceleration corresponding to each motor of each interpolation point are calculated by the method of central difference;

[0036] (2) Using the Lagrangian equation, calculate the feed-forward compensation torque τ of each joint in each interpolation period according to the expected rotation angle, angular velocity, angular acceleration of each joint in each interpolation period and the dynamic model of the robot feedforwwa...

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Abstract

The invention relates to a feedforward torque compensating method used for an industrial robot. The method includes the steps that (1) a buffer queue is established according to an interpolation point queue obtained after all motors are subjected to interpolation calculation, and the central difference method is adopted for obtaining the theoretical joint angular velocities and joint angular accelerations corresponding to all the motors of interpolation points; (2) the lagrange equation is used for obtaining the feedforward compensating torques of all joints during all interpolation periods according to the expected rotating angles, angular velocities and angular accelerations of all the joints during the interpolation periods and a kinetic model of the robot; and (3) the feedforward compensating torque tau feedforward is added into the electric current loop input position of the motor bottom layer to serve as a PD feedback torque tau feedback supplement. By means of the feedforward torque compensating method provided by the invention, calculation is easy and convenient, and after torque compensating is completed, trajectory tracking errors of the robot can be reduced, and positional accuracy of the robot can be improved.

Description

technical field [0001] The invention relates to the application field of six-axis industrial robots, in particular to a feedforward torque compensation method for industrial robots. Background technique [0002] In the control field of industrial robots, the position loop, speed loop and current loop that come with the bottom layer of the motor are generally used to adjust the trajectory tracking error of each joint of the robot. The most commonly used method is to use the PD feedback of the position loop to input the feedback torque to the current loop to control the force of each motor of the robot. [0003] In high-speed and high-load situations, it is difficult to meet the high-speed and high-precision control requirements of robots with PD feedback alone. Common problems mainly include: slow response speed of robots, large trajectory tracking errors, and insufficient positioning accuracy. In view of the above problems, according to the theoretical trajectory of the rob...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 张铁龚文涛邹焱飚
Owner SOUTH CHINA UNIV OF TECH
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