Method and device for controlling a robot
A control method and robot technology, applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve problems such as inability to effectively avoid singular positions, difficulty in avoiding singular positions, and poor accuracy of robot dragging and teaching, so as to improve accuracy and Effects of Sensitivity, Sensitivity Improvement, and Accuracy Improvement
Active Publication Date: 2019-09-20
SHANGHAI STEP ELECTRIC +1
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Problems solved by technology
[0003] In the process of realizing the present invention, the inventor found that there are at least the following problems in the prior art: the first method cannot effectively avoid the singular position when dragging the robot because it does not need to further plan the speed of each axis joint of the robot.
The second method directly calculates the delivery position of each joint axis of the robot from the obtained sensor torque, so the accuracy of the robot's dragging and teaching is relatively poor
The third method does not implement trajectory planning through the acquisition of the speed of each axis joint of the robot. Therefore, the accuracy of the robot’s dragging and teaching is relatively poor, and it is difficult to avoid the singular position during the dragging and teaching process.
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[0014] In order to make the object, technical solution and advantages of the present invention clearer, various embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. However, those of ordinary skill in the art can understand that, in each implementation manner of the present invention, many technical details are provided for readers to better understand the present application. However, even without these technical details and various changes and modifications based on the following implementation modes, the technical solution claimed in this application can also be realized.
[0015] The first embodiment of the present invention relates to a robot control method, such as figure 1 shown, including:
[0016] Step 101: Set the tracking cycle. Specifically, the terminal may preset a tracking period, where the tracking period is an update period of acquired force and moment values.
[0017] More specifically, the f...
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The invention relates to the technical field of robot control, in particular to a method and device for controlling a robot. The method for controlling the robot comprises the steps of setting a tracking period; collecting force sensor information in the tracking period, obtaining a tracking position of each pivot joint of a robot multiaxis mechanism according to the collected force sensor information, wherein the tracking position is a position of each pivot joint of the multiaxis mechanism in a next tracking period, recording the tracking period and the tracking position, performing track planning on the tracking position in the tracking period, sending the track planning to a servo control system, and controlling each pivot joint of the multiaxis mechanism to move to the tracking position. The embodiment of the invention further provides the device for controlling the robot. The robot controlling process is higher in precision and better in sensitivity.
Description
technical field [0001] The invention relates to the technical field of robot control, in particular to a robot control method and device. Background technique [0002] In the prior art, in the robot drag teaching method with a force sensor at the end, there are usually the following three processing methods. The first method is to obtain the sensor torque to obtain the end speed of the flange tooling of the robot, and the obtained The torque and the end speed of the flange tooling are processed as a PID (proportional, integral, differential) control loop, and then the sending position of each axis joint of the robot is obtained, and the function of dragging and teaching is realized. The second method is to directly convert the acquired sensor torque through the dynamic equation to calculate the delivery position of each joint axis of the robot. The third method is to directly plan the trajectory of the end of the flange tooling of the robot by the obtained sensor torque, an...
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IPC IPC(8): B25J9/16B25J13/00
Inventor 林俐顾少骋朱万辉李大新张慧
Owner SHANGHAI STEP ELECTRIC