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A Force Control Algorithm of Mobile Robot Based on Inertial Module

A mobile robot, robot technology, used in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as inability to interact with people, expensive, and inability to respond to external forces, to avoid misjudgment and remove inherent damping The effect of oscillation

Active Publication Date: 2019-06-25
清研华宇智能机器人(天津)有限责任公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, the vast majority of mobile robots on the market cannot interact with people well and cannot respond to external forces; most of the existing human-machine collaborative robot control systems use multi-dimensional force sensors to sense the magnitude and direction of external forces. Take this as input to the control algorithm
This kind of control system is simple and accurate in sensing external force, but the price is very expensive

Method used

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  • A Force Control Algorithm of Mobile Robot Based on Inertial Module
  • A Force Control Algorithm of Mobile Robot Based on Inertial Module

Examples

Experimental program
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Effect test

Embodiment Construction

[0037] First define the robot coordinate system, such as figure 1 As shown, taking the robot itself as the reference origin, the front is the positive direction of the X-axis, the left side is the positive direction of the Y-axis, and counterclockwise rotation is positive. The attitude angle of the robot is obtained by using the inertial module installed on the waist of the robot. For the obtained attitude angle Perform data filtering, including median average filtering and removal of fluctuations around zero, where

[0038] The median average filtering algorithm combines the advantages of mean filtering and median filtering, the purpose is to overcome the interference of random values, and it has a good suppression effect on periodic interference, and the smoothness is better.

[0039] The specific method is: collect N 1 data, remove the maximum and minimum values, and the remaining N 1 - Take the average of 2 data.

[0040] Remove fluctuations around zero

[0041] If con...

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Abstract

The invention provides a moving robot force control algorithm based on an inertia module. The attitude angle of a robot is acquired through the inertia module installed on the waist of the robot, the speed of the robot is judged according to the acquired attitude angle, and the speed is transmitted to the robot to control motion of the robot. According to the moving robot force control algorithm, the magnitude and direction of external force can be judged through a low-cost spring and inertia device module, accordingly, the intention of a person is identified, and external force control is achieved; in the relational mapping process of the robot inclination angle changes measured by an inertia device to speeds, the inherent damped oscillation of the spring is effectively eliminated by adopting a judgment method of combining the historical and current states of the robot; in the process of converting the robot inclination angle measured by the inertia device into speed relational mapping, kinematics limitation is added, and the speed of the robot is limited within a range; and on one hand, misjudgment of spring shaking during moving is avoided, on the other hand, the situation that the speed is too high due to the fact that deformation of the spring relatively small in rigidity is too large is avoided.

Description

technical field [0001] The invention belongs to the field of collaborative control of mobile robots, and in particular relates to an inertial module-based force control algorithm for mobile robots. Background technique [0002] Robotics has made remarkable progress in just 60 years since the birth of traditional industrial robots. Today, robots are no longer limited to industrial applications. Its research focus and development direction tend to be more applied to daily life, such as catering, welcoming guests, entertainment, companionship, etc. At the same time, the development of robot technology also requires higher and higher requirements for human-machine cooperation. That is to say, robots can not only move autonomously, but also respond to human forces and interact with people, thereby enhancing the intelligence and performance of robots. Interesting. [0003] At present, the vast majority of mobile robots on the market cannot interact with people well and cannot re...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1607B25J9/1633
Inventor 刘召宋立滨于涛陈恳刘莉陈洪安
Owner 清研华宇智能机器人(天津)有限责任公司
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