A device and method for robot force control teaching imitation learning
A technology of robots and teaching robots, which is applied in manipulators, manufacturing tools, etc., can solve problems such as difficulty in realizing compliance control and restricting the application of robots, and achieve the effects of good practicability, improved efficiency, and simple application
Active Publication Date: 2017-10-31
HUAZHONG UNIV OF SCI & TECH
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Problems solved by technology
However, these methods can realize the conventional motion planning of the robot, but it is difficult to realize the compliance control when the robot contacts or interacts with the external environment, which restricts the application of the robot in complex environments.
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[0025] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.
[0026] see figure 1 and image 3 , the robot force control teaching and imitation learning device provided by the preferred embodiment of the present invention adopts the method of parallel robot, and at the same time uses the six-degree-of-freedom parallel teaching robot to perform on-site or remote-controlled teaching movements for the six-degree-of-freedom operating robot, so that The worki...
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The invention belongs to the related technical field of robot intelligent control, and discloses a robot force control teaching learning imitating device. The device comprises a six-freedom-degree parallel teaching robot, a first six-dimensional force sensor, a second six-dimensional force sensor, a six-freedom-degree operation robot and a force position sampling control system; the first six-dimensional force sensor is arranged on a tail end executor of the six-freedom-degree parallel teaching robot, and is used for sensing drive force borne by the six-freedom-degree parallel teaching robot, the second six-dimensional force sensor is arranged on the tail end executor of the six-freedom-degree operation robot and is used for sensing contact force of the tail end of the six-freedom-degree operation robot, and the force position sampling control system is electrically connected with the six-freedom-degree parallel teaching robot and the six-freedom-degree operation robot and is used for collecting contact force and drive force so as to implement force reference impedance control. The invention further relates to a robot force control teaching learning imitating method.
Description
technical field [0001] The invention belongs to the technical field related to robot intelligent control, and more specifically relates to a device and method for robot force control teaching imitation learning. Background technique [0002] Due to its advantages of low cost, good flexibility, intelligence, high efficiency, and large operating space, robots have been widely used in people's daily life and production. For example, service robots are used in catering, medical treatment, rehabilitation, and human enhancement. Industrial robots are used in handling, welding, assembly, grinding, etc. In these robot applications, a considerable part involves the contact and interaction between the robot and the external environment. In order to prevent damage to the robot and external environmental objects, it is necessary to implement compliant force control on the robot itself, such as impedance control, force-position parallel control, and force-position mixing. Controls to ad...
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IPC IPC(8): B25J19/00B25J13/00
CPCB25J13/00B25J19/00
Inventor 赵欢张越丁汉
Owner HUAZHONG UNIV OF SCI & TECH